CN108532460B - A kind of catamaran type cable climbing robot - Google Patents
A kind of catamaran type cable climbing robot Download PDFInfo
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- CN108532460B CN108532460B CN201810474206.6A CN201810474206A CN108532460B CN 108532460 B CN108532460 B CN 108532460B CN 201810474206 A CN201810474206 A CN 201810474206A CN 108532460 B CN108532460 B CN 108532460B
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- robot
- connecting rod
- roller supporting
- plate
- disk
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Architecture (AREA)
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- Structural Engineering (AREA)
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Abstract
The present invention discloses a kind of catamaran type cable climbing robot, belongs to Industrial Robot Technology field.The robot includes robot top half and robot lower half portion, robot top half includes clamping plate, clamping jaw, small rod, top plate, small rod disk, electric cylinder, mid-game, big connecting rod, roller supporting bar, big connecting rod disk, idler wheel, bottom plate, fixing end and snap-gauge, bottom plate is equipped with workbench, workbench is connect by cable with controller, and robot lower half portion is identical as top half structure.Robot two parts alternately clamp cable, and when climbing is coated with the cable of preservative oil, climbing is reliable, can prevent slipping phenomenon；Robot load capacity is strong, is convenient for carrying detection device and is climbed.
Description
Technical field:
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of catamaran type cable climbing robot.
Background technique:
With the fast development in China, the scale of bridge construction is also increasing.The main stress structure of suspension bridge, cable-stayed bridge
Part is cable, but due to its long-term exposure, by wind, solarization, the erosion to drench with rain with environmental pollution, surface will receive more serious
Destruction, detrimental effect is brought to bed rearrangement cable-stayed bridge.Cable inspection method is relatively very backward at present, and high-altitude bridge floor is still artificial
Detection, China had also started the research to cable-stayed bridge, the cable inspection technology for hanging bridge in recent years.Most of climbing mechanism utilizes
Friction pulley continuous rolling type moves on cable, but cable surface is coated with preservative oil, and frictional force is small, and friction pulley is asked in the presence of skidding
Topic, may cause climbing mechanism can not work, therefore propose that a kind of reliable climbing mechanism is significant.
Chinese patent CN201437247U discloses a kind of robot capable of crawling cable, and the robot is since structure limits, in work
Zuo Guo robot is limited to the enclasping force of cable, is likely to occur slippage problems on the cable surface that friction is small, which exists
It is generally existing in the electronic continous way cable climbing robot of existing type.
Summary of the invention:
The purpose of the present invention is being directed to the deficiency of existing product, provide it is a kind of can reliably climb, and surface can be climbed
More smooth cable facilitates recycling, has certain load capacity and motion mode simply and easily catamaran type cable climbing robot.
A kind of catamaran type cable climbing robot provided by the invention includes the identical robot top half of structure and machine
Lower half portion under device people；The robot top half includes clamping plate 1, clamping jaw 2, small rod 3, top plate 4, small rod disk 5, first
Electric cylinder 6, middle plate 7, the first support shaft 8A, the second support shaft 8B, big connecting rod 9, roller supporting bar 10, spring 11, big connecting rod disk
12, idler wheel 13, the second electric cylinder 14, bottom plate 15, motor contact 16, third electric cylinder 17 and snap-gauge 18, the clamping jaw 2 are arranged
On the top plate 4, the clamping plate 1 is connect with the clamping jaw 2, and the clamping jaw 2 is connect with the small rod 3, the small rod 3
Rear end is connect with the small rod disk 5, and the lower end of the small rod disk 5 is connect with first electric cylinder 6, and described first is electronic
Cylinder 6 is connect with the middle plate 7, and the middle plate 7 is connected by the first support shaft 8A and the top plate 4, and the top plate 4 passes through
The second support shaft 8B is connect with the bottom plate 15, and middle 7 lower part of plate is equipped with the big connecting rod disk 12, the big connecting rod disk
12 upper ends are connect with 9 rear end of big connecting rod, and 9 front end of big connecting rod is connect with 10 rear end of roller supporting bar, the rolling
Wheel 10 front end of support rod is equipped with the idler wheel 13；The snap-gauge 18 is connected with the middle plate 7.
The roller supporting bar 10 includes roller supporting bar front end 10-1 and roller supporting rod rear end 10-2, the idler wheel branch
The front end of strut 10 passes through the snap-gauge 18, and the roller supporting bar 10 is equipped with opening, and the big connecting rod disk 12 is equipped with connecting rod,
On the connecting rod on the big connecting rod disk 12, the connecting rod on the big connecting rod disk 12 passes through the open card of the roller supporting bar 10
The middle plate 7, the big connecting rod disk 12 connects with second electric cylinder 14 being located on the bottom plate 15, the bottom plate 15 and
The motor contact 16 connects, and the motor contact 16 connects the third electric cylinder 17, and the bottom plate 15 is equipped with electricity
Cable, the cable are connect with robot controller, are passed through between the robot top half and the robot lower half portion
The third electric cylinder 17 connects.
1 surface of clamping plate is provided with anti-skid design, and the clamping plate 1 is made of rubber or soft metal.
The middle part of the roller supporting bar 10 is equipped with spring 11, roller supporting bar front end 10-1 and the roller supporting
It is connected between rod rear end 10-2 by the spring 11.
The top plate 4, small rod disk 5, middle plate 7, big connecting rod disk 12 and the bottom plate 15 to be equipped with diameter not small at middle part
In the through-hole of cable.It is articulated and connected between the big connecting rod 9 and the roller supporting rod rear end 10-2.
The robot top half is identical with lower half portion structure, is mounted on the electricity of the robot top half
Machine connector 16 connects 17 axis of third electric cylinder, and the motor contact 16 for being mounted on the robot lower half portion connects
Connect 17 cylinder body of third electric cylinder；The installation being equipped with not less than 10 front end body diameter of roller supporting bar on the snap-gauge 18
Through-hole.
Robot two parts of the present invention alternately clamp cable, and climbing is reliable when climbing is coated with the cable of preservative oil, prevent out
Existing slipping phenomenon；Robot load capacity is strong, is convenient for carrying detection device and is climbed.
Detailed description of the invention:
Fig. 1 is the top half structural schematic diagram of robot of the present invention.
Fig. 2 is the wheel design schematic diagram in robot of the present invention.
Fig. 3 is the clamping structure schematic diagram in robot of the present invention.
Fig. 4 is the overall structure diagram of robot of the present invention.
In figure: 1: clamping plate；2: clamping jaw；3: small rod；4: top plate；5: small rod disk；6: the first electric cylinders；7: middle plate；8A:
First support shaft；8B: the second support shaft；9: big connecting rod；10: roller supporting bar；10-1: roller supporting bar front end；10-2: idler wheel
Support rod rear end；11: spring；12: big connecting rod disk；13: idler wheel；14: the second electric cylinders；15: bottom plate；16: motor contact；
17: third electric cylinder；18, snap-gauge.
Specific embodiment:
To further appreciate that the content of present invention, in conjunction with attached drawing, the present invention is described in detail.
A kind of catamaran type cable climbing robot of the present invention includes robot top half and robot lower half portion, described
Robot top half includes clamping plate 1, clamping jaw 2, small rod 3, top plate 4, small rod disk 5, the first electric cylinder 6, middle plate 7, Dalian
Bar 9, roller supporting bar 10, big connecting rod disk 12, idler wheel 13, the second electric cylinder 14, bottom plate 15, motor contact 16, third are electronic
Cylinder 17 and snap-gauge 18, are equipped with clamping jaw 2 on the top plate 4, and 2 front end of clamping jaw is equipped with clamping plate 1,2 lower section of clamping jaw with
The connection of 3 front end of small rod, 3 rear end of small rod are connect with small rod disk 5,5 lower section of small rod disk and the first electric cylinder 6
Connection, first electric cylinder 6 are connect with middle plate 7, and the middle plate 7 is connected by the first support shaft 8A and top plate 4, the middle plate
7 lower sections are fixed with snap-gauge 18, and 12 upper end of big connecting rod disk is connect with 9 rear end of big connecting rod, 9 front end of big connecting rod and idler wheel branch
The connection of 10 rear end of strut, 10 front end of roller supporting bar is equipped with idler wheel 13, is equipped with bullet in the middle part of the roller supporting bar 10
Spring 11,10 front end of roller supporting bar pass through snap-gauge 18, and the middle part setting of the roller supporting bar 10 is divided into roller supporting bar
Front end 10-1 roller supporting rod rear end 10-2, the open card of the roller supporting bar 10 are described on the connecting rod of big connecting rod disk 12
12 upper connecting rod of big connecting rod disk passes through middle plate 7, and the big connecting rod disk 12 is connect with the third electric cylinder 17 on bottom plate 15, the top plate
4 are connect by the second support shaft 8B with the bottom plate 15, and the connection of part 16 is connected to motor in the bottom plate 15, and the motor connects
Fitting 16 connects third electric cylinder 17, and the bottom plate 15 is equipped with workbench, the workbench and cable connection, the machine
Device people lower half portion is identical as top half structure.
When working on cable, the first electric cylinder 6 of lower half portion robot is withdrawn first, under driving for robot of the present invention
Clamping jaw 2 in half part robot clamps cable, and the clamping jaw 2 in top half robot unclamps, in top half robot
Second electric cylinder 14 drives roller supporting bar 10 to stretch out, and the idler wheel 13 positioned at 10 front end of roller supporting bar is adjacent to cable, the upper half
The third electric cylinder 17 divided in robot drives robot top half to rise, and then robot top half clamps cable, machine
The first electric cylinder 6 in device people lower half portion is withdrawn, and the clamping jaw 2 in robot lower half portion is driven to clamp cable, top half
Clamping jaw 2 in robot unclamps, and the second electric cylinder 14 driving roller supporting bar 10 in top half robot stretches out, and is located at rolling
The idler wheel 13 of wheel 10 front end of support rod is adjacent to cable, and third electric cylinder 17 retracts, and then robot repeats movement advance.
Above schematically invention has been described, and description is not limiting, and shown in the drawings is also this
One of embodiment of invention, actual structure is not limited to this.So if those skilled in the art are opened by it
Show, without departing from the spirit of the invention, not inventively designs structure side similar with the technical solution
Formula and embodiment, are within the scope of protection of the invention.
Claims (5)
1. a kind of catamaran type cable climbing robot, it is characterised in that the climbing robot includes in the identical robot of structure
Half part and robot lower half portion；The robot top half includes clamping plate (1), clamping jaw (2), small rod (3), top plate
(4), small rod disk (5), the first electric cylinder (6), middle plate (7), the first support shaft (8A), the second support shaft (8B), big connecting rod
(9), roller supporting bar (10), spring (11), big connecting rod disk (12), idler wheel (13), the second electric cylinder (14), bottom plate (15), electricity
Machine connector (16), third electric cylinder (17) and snap-gauge (18), the clamping jaw (2) are arranged on the top plate (4), the clamping plate
(1) connect with the clamping jaw (2), the clamping jaw (2) connect with the small rod (3), small rod (3) rear end with it is described small
Connecting bar disk (5) connection, the lower end of the small rod disk (5) are connect with first electric cylinder (6), first electric cylinder (6)
It is connect with the middle plate (7), the middle plate (7) is connected by first support shaft (8A) and the top plate (4), the top plate
(4) it is connect by second support shaft (8B) with the bottom plate (15), middle plate (7) lower part is equipped with the big connecting rod disk
(12), big connecting rod disk (12) upper end is connect with the big connecting rod (9) rear end, big connecting rod (9) front end and the idler wheel
The connection of support rod (10) rear end, roller supporting bar (10) front end is equipped with the idler wheel (13)；The snap-gauge (18) and institute
Middle plate (7) are stated to be connected；The roller supporting bar (10) includes roller supporting bar front end (10-1) and roller supporting rod rear end (10-
2), roller supporting bar (10) front end passes through the snap-gauge (18), and the roller supporting bar (10) is equipped with opening, the Dalian
Bar disk (12) is equipped with connecting rod, and the open card of the roller supporting bar (10) is on the connecting rod on the big connecting rod disk (12), institute
The connecting rod on big connecting rod disk (12) is stated across the middle plate (7), the big connecting rod disk (12) and on the bottom plate (15)
Second electric cylinder (14) connection, the bottom plate (15) connect with the motor contact (16), the motor contact
(16) the third electric cylinder (17) is connected, the bottom plate (15) is equipped with cable, and the cable is connect with robot controller,
It is connected between the robot top half and the robot lower half portion by the third electric cylinder (17).
2. a kind of catamaran type cable climbing robot according to claim 1, it is characterised in that clamping plate (1) surface is set
It is equipped with anti-skid design, the clamping plate (1) is made of rubber or soft metal.
3. a kind of catamaran type cable climbing robot according to claim 1, it is characterised in that the roller supporting bar
(10) middle part is equipped with spring (11), between roller supporting bar front end (10-1) and the roller supporting rod rear end (10-2)
It is connected by the spring (11).
4. a kind of catamaran type cable climbing robot according to claim 1, it is characterised in that the top plate (4), little Lian
The through-hole that diameter is not less than cable is equipped in the middle part of bar disk (5), middle plate (7), big connecting rod disk (12) and the bottom plate (15).
5. a kind of catamaran type cable climbing robot according to claim 1, it is characterised in that the big connecting rod (9) and institute
It states and is articulated and connected between roller supporting rod rear end (10-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810474206.6A CN108532460B (en) | 2018-05-17 | 2018-05-17 | A kind of catamaran type cable climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810474206.6A CN108532460B (en) | 2018-05-17 | 2018-05-17 | A kind of catamaran type cable climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108532460A CN108532460A (en) | 2018-09-14 |
| CN108532460B true CN108532460B (en) | 2019-07-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810474206.6A Active CN108532460B (en) | 2018-05-17 | 2018-05-17 | A kind of catamaran type cable climbing robot |
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| CN (1) | CN108532460B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109706838B (en) * | 2019-02-22 | 2024-06-04 | 哈尔滨合正科技有限公司 | Climbing robot for cable defect detection and positioning |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077484C (en) * | 1999-12-10 | 2002-01-09 | 上海交通大学 | Pneumatic creeping cable robot |
| CN101734300B (en) * | 2009-12-02 | 2011-06-29 | 中国计量学院 | Continuous movable type cable climbing device |
| WO2013159208A1 (en) * | 2012-04-28 | 2013-10-31 | Leon Keith Jantzen | Bi-directional shuttle for remotely-operated rope-threading tool |
| CN104894957B (en) * | 2014-03-03 | 2016-10-26 | 长沙大方精密机电有限公司 | Anti-bias adjustable climbing device for bridge cable defects detection |
| CN204530473U (en) * | 2015-02-27 | 2015-08-05 | 西南交通大学 | Cable climbing robot |
| CN107323557A (en) * | 2017-08-03 | 2017-11-07 | 嘉兴学院 | Based on pneumatic muscles apery climbing level robot |
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- 2018-05-17 CN CN201810474206.6A patent/CN108532460B/en active Active
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| CN108532460A (en) | 2018-09-14 |
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