CN104674654B - A kind of robot capable of crawling cable - Google Patents

Abstract

A cable crawling robot, comprising an outer frame, a clamping mechanism on the outer frame and a crawling mechanism, wherein: the outer frame is a cubic frame; each side of its upper and lower surfaces is connected with the inner side frame through a radial frame, and each side There is a clamping mechanism and a crawling mechanism; the clamping mechanism is composed of: the vertical rods on the side of the outer frame are connected with ball screws with opposite rotation directions on both sides, and the two screw nuts of the ball screws are hinged connecting rods. The other end of the rod is jointly hinged on the back of the clamping support plate where the rollers matched with the radial frame are installed at the upper and lower ends; the crawling mechanism is composed of: one end of the inner side of the clamping support plate is hinged to install the guide rod of the guide wheel, and the other end is installed with the guide rod; The guide rod is hinged with the balance beam, and a pressure sensor and a compression spring are fitted on the guide rod; the upper and lower ends of the balance beam are respectively equipped with a driven wheel and a driving wheel connected by a synchronous belt. The robot can be used for cables with large diameter differences. It has good clamping force, strong cable climbing ability and obstacle surmounting ability, and can avoid jamming and slipping.

Description

A cable crawling robot

technical field

The invention relates to a robot, in particular to a cable crawling robot for inspecting and working on cables.

Background technique

With the rapid development of the bridge construction industry, the scale of cable-stayed bridges is getting bigger and bigger. At present, there are more than 200 cable-stayed bridges in the world with a main span of more than 200 meters. The increase in the number and size of cable-stayed bridges brings more challenges to bridge detection. The cable is the main load-bearing component of the cable-stayed bridge, and it is exposed to the wind and the sun for a long time, and it is prone to damage or even breakage. It is necessary to regularly check whether the surface is complete. The cables are suspended on both sides of the cable-stayed bridge, which may be as high as 100 meters. The general manual inspection method is time-consuming and labor-intensive, and cannot guarantee personal safety. Although the use of winches to detect cables can ensure the safety of personnel to a certain extent, it still has low efficiency. The problem. In this context, cable crawling robot technology is proposed. This technology is to use a specially designed industrial robot equipped with a detection system to detect and operate the cable. Existing cable crawling robots mainly include pneumatic peristaltic, electric continuous and helical climbing. In comparison, the electric continuous cable crawling robot has the advantages of continuous and reliable motion, small size, wireless remote control and good bearing capacity, and has become the main development direction of cable crawling robots.

The surface of the cable is usually covered with a layer of twisted wire. The twisted wire will produce some large protrusions or depressions during long-term use. Sometimes some small detection elements or decorations are installed on the cable. The cable crawling robot needs to go over the these obstacles. Consult several newest cable crawling robots in China, such as Chinese Patent Publication No. CN201437247, the public date is April 14, 2010, and the name created by the utility model is a cable crawling robot. This application discloses a cable crawling robot, which consists of three connected The rod support is connected with three dollies to form, and the upper push rod hinge is connected with the lower push rod at the three vertices of the tripod, and the upper and lower push rods are respectively equipped with a driving wheel and a driven wheel. Both the upper push rod and the lower push rod generate contact force through the oblique spring and the cable, and the whole robot forms an equilateral triangle structure. The cable robot of this utility model has following deficiency. First, the designed triangular frame structure is fixed, so it cannot be applied to cables with large diameter differences. Second, although the use of inclined springs has a certain ability to overcome obstacles, when the rollers pass through larger obstacles, there is still a problem that they may be stuck. Third, due to structural limitations, the gripping force of the robot on the cable cannot be changed during the working process. When the robot is stuck or slipping at high altitude, the ground cannot control the robot to recover. The above problems generally exist in existing types of electric continuous cable crawling robots.

Contents of the invention

The object of the present invention is to provide a cable crawling robot for inspecting and working on cables. The robot can be used for cables with large diameter differences, has good clamping force on the cables, has strong cable climbing and obstacle-surmounting capabilities, and can avoid jamming and slipping.

The technical scheme that the present invention takes for realizing its inventive purpose is: a kind of cable crawling robot, comprises outer frame, the clamping mechanism on the outer frame and crawling mechanism, and its structural characteristic is:

The outer frame is a cube frame; each side of the upper surface and the lower surface of the outer frame is connected with the inner side frame through a radial frame, and each side of the outer frame has a clamping mechanism and a crawling mechanism;

The specific composition of each clamping mechanism is: between the vertical rods on the side of the outer frame, the ball screws on both sides of the opposite rotation are connected through bearings, the screw nuts on both sides of the ball screw are hinged with connecting rods, and the two connecting rods The other end is jointly hinged on the hinge shaft on the back of the vertical clamping support plate. The ball screw is driven by a stepping motor fixed on the outer frame. Rollers matched to the frame;

The specific composition of each crawling mechanism is: one end of the inner side of the clamping support plate on the outer frame is hinged with a guide rod, the other end of the guide rod is equipped with a guide wheel, and a tension spring is connected between the guide rod and the clamping support plate. The other end of the support plate is equipped with a guide rod through a linear bearing; the inward protruding end of the guide rod is hinged to the balance beam, and the guide rod is fitted with a pressure sensor and a compression spring at the position between the balance beam and the clamping support plate; the balance The upper and lower ends of the beam are respectively equipped with a driven wheel and a driving wheel, a synchronous belt is connected between the driven wheel and the driving wheel, and the driving wheel is connected with a driving motor fixed on the balance beam.

The working principle of the clamping mechanism of the present invention is: the stepping motor drives the ball screw to rotate, thereby driving the lead screw nut on the ball screw and one end of the connecting rod hinged by the lead screw nut to do relative motion, and the other end of the connecting rod pushes Clamp the support plate, the rollers at the upper and lower ends of the clamp support plate move toward the cable along the radial frame on the outer frame, so that the guide wheel, driving wheel and driven wheel press the cable; the motor reverses, the screw nut and its lead screw One end of the connecting rod hinged by the nut moves in the opposite direction. At this time, the connecting rod pulls the clamping support plate away from the cable, so that the guide wheel, driving wheel and driven wheel are away from the cable.

The working principle of the crawling mechanism of the present invention is: the drive motor drives the driving wheel to rotate through the reducer and the synchronous belt in turn, and the driving wheel drives the driven wheel to rotate together through the synchronous belt, thereby realizing the crawling of the cable crawling robot on the cable. The crawling direction of the cable crawling robot is controlled by the forward and reverse rotation of the drive motor.

Compared with prior art, the beneficial effect of the present invention is:

1. The cable is clamped from four directions by two pairs of opposite clamping mechanisms and crawling mechanisms. The clamping force is large, the clamping is firm, and the cable climbing ability is strong.

2. The clamping mechanism in each direction is controlled by different synchronous motors, and the distance between the clamping support plate and the cable in each direction can be different, so that it can adapt to flat cables and adapt to a wide range of cable diameters.

3. Each ball screw controls the clamping of the cable crawling robot in one direction. When an obstacle is encountered, one of the clamping mechanisms can be released to smoothly avoid the one side of the cable, or the one installed on the opposite two sides. All kinds of components have strong obstacle-surmounting ability and good passability.

4. It is convenient to control the clamping force of the cable through the control of the stepping motor, which can not only ensure firm clamping, avoid slipping, but also avoid jamming, and the passability is good.

5. There are guide wheels, driving wheels and driven wheels installed on the clamping support plate. There are three contact points between a carriage and the cable, which ensures firm contact with the cable and good clamping force. At the same time, the driving wheel and the driven wheel pass through The balance beam is connected, the middle part of the balance beam is connected with the clamping support plate through a compression spring and a linear bearing, so that the driving wheel (driven wheel) can rotate around the hinge axis of the balance beam, and the retreat and rebound of the entire balance beam make it more Strong barrier ability and good clamping force.

Further, a linear guide rail is fixed between the uprights on the side of the outer frame according to the present invention, the linear guide rail is located outside the ball screw, and the two sliders of the linear guide rail are respectively fixedly connected to the two screw nuts.

In this way, the linear guide rail can share the vertical force generated by the screw nut on the screw, so as to avoid deformation and failure of the ball screw due to long-term excessive bending moment.

Further, the specific manner in which the ball screw of the present invention is driven by a stepping motor fixed on the outer frame is: a stepping motor fixed on the outer frame drives two opposite ball screws: the stepping The motor is connected with a ball screw through a reducer, and the ball screw is connected with another ball screw through a synchronous belt.

In this way, on the premise of satisfying the adaptability of the cable crawling robot to the flat cable and the ability to overcome obstacles, a stepping motor controls the relative clamping mechanism to clamp or loosen the cable in a simple way, which reduces the cost and The weight of the entire cable crawling robot.

Further, the guide rods of the opposite pair of crawling mechanisms and the guide wheels installed in the present invention are located at the upper end of the clamping support plate, and the guide rods of the other pair of crawling mechanisms and the guide wheels installed are located at the upper end of the clamping support plate. lower end.

Like this, once the guide wheel on the adjacent clamping support plate goes up and down, the driving wheel and the driven wheel also go up and down, so that the cable is evenly stressed up and down, and there are strong driving wheels and driving wheels with strong crawling ability when climbing up and down. The driven wheel is in the front, and the guide wheel with good guiding ability is behind, so that it has good crawling ability and guiding ability when going up and down.

Further, the specific structure that the driving wheel is connected with the driving motor fixed on the balance beam is: the driving motor is connected with the driving wheel through a reducer and a synchronous belt in sequence.

In this way, through the connection of the synchronous belt, the forward and reverse rotation and rotation speed of the driving motor are controlled, and the crawling direction and crawling speed of the robot can be controlled.

Further, the drive motor described in the present invention is a brushless DC motor.

This kind of motor is light in weight and small in size, has good linearity in mechanical characteristics and adjustment characteristics, wide range of speed regulation, long service life, convenient maintenance and low noise.

Further, the outer frame of the present invention is a detachable frame on one side, wherein one side frame is connected to the other side by pins.

In this way, the disassembly is convenient and the working efficiency is improved.

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Fig. 1 is a front view structural diagram of an embodiment of the present invention.

FIG. 2 is a schematic cross-sectional view along line A-A of FIG. 1 .

FIG. 3 is a schematic cross-sectional view of C-C in FIG. 1 .

Fig. 4 is a side view schematic diagram of the embodiment of the present invention.

FIG. 5 is a schematic top view of an embodiment of the present invention.

detailed description

Example

Figures 1-5 show that a specific embodiment of the present invention is: a cable crawling robot, including an outer frame 100, a clamping mechanism and a crawling mechanism on the outer frame 100, and its structural characteristics are:

The outer frame 100 is a cube frame; each side of the upper surface and the lower surface of the outer frame 100 is connected with the inner side frame 102 through the radial frame 101, and each side of the outer frame 100 has a clamping mechanism and crawling mechanism;

The specific composition of each clamping mechanism is: between the vertical rods on the side of the outer frame 100, the ball screw 201 with opposite rotation on both sides is connected through bearings, and the screw nuts 202 on both sides of the ball screw 201 are hinged with connecting rods 203 , the other ends of the two connecting rods 203 are jointly hinged on the hinge shaft at the back of the vertical clamping support plate 204, and the ball screw 201 is driven by a stepping motor 205 fixed on the outer frame 100 to clamp the upper and lower sides of the support plate 204. Both ends are equipped with rollers 207 that match the corresponding radial frame 101 on the outer frame 100;

The specific composition of each crawling mechanism is: one end of the clamping support plate 204 inboard on the outer frame is hinged guide rod 301, and the other end of guide rod 301 guide wheel 302 is installed, is connected between guide rod 301 and clamping support plate 204 Tension spring 303, the other end of clamping support plate 204 is equipped with guide rod 304 through linear bearing; A pressure sensor 306 and a compression spring 307 are fitted at the position between them; the upper and lower ends of the balance beam 305 are respectively equipped with a driven wheel 308 and a driving wheel 309, and a synchronous belt is connected between the driven wheel 308 and the driving wheel 309, and the driving wheel 309 and the driving wheel 309 are connected with each other. The drive motor 310 fixed on the balance beam 305 is connected.

The linear guide rail 208 is fixed between the uprights on the side of the outer frame 100 described in this example, the linear guide rail 208 is located outside the ball screw 201, and the two sliders of the linear guide rail 208 are respectively fixed to the two screw nuts 202 connect.

The specific way in which the ball screw 201 described in this example is driven by the stepping motor 205 fixed on the outer frame 100 is: a stepping motor 205 fixed on the outer frame 100 drives two opposite ball screws 201: The stepping motor 205 is connected with a ball screw 201 through a reducer, and the ball screw 201 is connected with another ball screw 201 through a synchronous belt.

In this example, the guide rods 301 of the opposite pair of crawling mechanisms and the guide wheels 302 installed are located at the upper end of the clamping support plate 204, and the guide rods 301 of the other pair of crawling mechanisms and the guide wheels 302 installed are located at the clamping support plate 204. The lower end of the support plate 204 .

The concrete structure that the driving wheel 309 described in this example is connected with the driving motor 310 fixed on the balance beam 305 is: the driving motor 310 is connected with the driving wheel 309 through a reducer and a synchronous belt in turn.

The drive motor 310 described in this example is a brushless DC motor.

The outer frame 100 in this example is a detachable frame on one side, and one side frame is connected to the other side by pins.

Claims (7)

1. a robot capable of crawling cable, comprises the clamping mechanism on outside framework (100), outside framework (100) and climbing mechanism, it is characterised in that:

Described outside framework (100) is cube frame; The upper surface of outside framework (100) is all connected with interior frame side (102) by radial shelf (101) with each limit of lower surface, and outside framework (100) each side all has a clamping mechanism and climbing mechanism;

The concrete composition of each clamping mechanism is: between the vertical rod of outside framework (100) side, the contrary ball-screw (201) of both sides rotation direction is connected by bearing, feed screw nut (202) on ball-screw (201) both sides is all hinged with connecting rod (203), the other end of two connecting rods (203) be jointly articulated with erect to clamping back up pad (204) back hinge on, ball-screw (201) is driven by the stepper-motor (205) being fixed on outside framework (100), the roller (207) that upper and lower ends is all installed with the corresponding radial shelf (101) on outside framework (100) coordinates of clamping back up pad (204),

The concrete composition of each climbing mechanism is: the hinged tail rod in one end (301) of clamping back up pad (204) inner side on outside framework, the other end of tail rod (301) installs guide deflection sheave (302), being connected with extension spring (303) between tail rod (301) and clamping back up pad (204), the other end of clamping back up pad (204) is provided with guide rod (304) by linear bearings; One end that guide rod (304) inwardly stretches out and balance beam (305) are hinged, and the position of guide rod (304) between balance beam (305) and clamping back up pad (204) is sheathed with pressure transmitter (306) and compression spring (307); The upper and lower ends of balance beam (305) is separately installed with follow-up pulley (308) and motion-work wheel (309), being connected with synchronous band between follow-up pulley (308) and motion-work wheel (309), motion-work wheel (309) is connected with the drive-motor (310) being fixed on balance beam (305).

2. described a kind of robot capable of crawling cable according to claim 1, it is characterized in that: between the vertical rod of described outside framework (100) side, be fixed with line slideway (208), line slideway (208) is positioned at the outside of ball-screw (201), and two slide blocks of line slideway (208) are fixedly connected with two feed screw nuts (202) respectively.

3. described a kind of robot capable of crawling cable according to claim 1, it is characterized in that: the concrete mode that described ball-screw (201) is driven by the stepper-motor (205) being fixed on outside framework (100) is: a stepper-motor (205) being fixed on outside framework (100) drives relative two ball-screw (201): described stepper-motor (205) is connected with a ball-screw by speed reduction unit, described ball-screw is connected by synchronous band with another ball-screw.

4. a kind of robot capable of crawling cable according to claim 1, it is characterized in that: the tail rod of the described climbing mechanism of a relative couple and the guide deflection sheave of installation thereof are positioned at the upper end of clamping back up pad, the guide deflection sheave of the tail rod of climbing mechanism and installation thereof is positioned at the lower end of clamping back up pad by another.

5. a kind of robot capable of crawling cable according to claim 1, it is characterised in that: the concrete structure that described motion-work wheel (309) is connected with the drive-motor (310) being fixed on balance beam (305) is: drive-motor (310) is connected with motion-work wheel (309) by speed reduction unit, synchronous band successively.

6. a kind of robot capable of crawling cable according to claim 1, it is characterised in that: described drive-motor (310) is brshless DC motor.

7. a kind of robot capable of crawling cable according to claim 1, it is characterised in that: described outside framework (100) is connected by pin for the dismountable framework in side, one of them lateral frame and other sides.