CN103643630A - Automatic speed adjustment type cable robot - Google Patents
Automatic speed adjustment type cable robot Download PDFInfo
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- CN103643630A CN103643630A CN201310703732.2A CN201310703732A CN103643630A CN 103643630 A CN103643630 A CN 103643630A CN 201310703732 A CN201310703732 A CN 201310703732A CN 103643630 A CN103643630 A CN 103643630A
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- 230000007423 decrease Effects 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 208000034189 Sclerosis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses an automatic speed adjustment type cable robot and belongs to the field of special robots. The cable robot comprises a frame, a roller wheel, a main shaft, a rolling bearing A, a synchronous belt wheel A, a synchronous belt, a synchronous belt wheel B, a synchronous motor and a return stroke mechanism, wherein the return stroke mechanism comprises a speed increment mechanism and an internal expansion block type brake mechanism; the speed increment mechanism comprises a transmission shaft, a rolling bearing B, a gear B and a gear A; the internal expansion block type brake mechanism comprises a brake wheel, a flange plate, a brake shoe, a cam, a tension spring, a rotary shaft and a shaft sleeve. The cable robot solves the problems that an existing cable robot hardly and automatically returns to the ground in case of unexpected power outage and a large amount of energy is consumed and the speed is not easy to adjust automatically when the robot normally returns to the ground, and has the advantages of reasonable design and simplicity for manufacturing.
Description
Technical field
The invention belongs to field of special robots, more particularly, relate to a kind of speed-self-adjustable cable robot for cable inspection and maintenance.
Background technology
Cable stayed bridge, as the new model of modern bridge, is worldwide widely used.As the cable long term exposure of one of cable stayed bridge main bearing member, in air, through wind and weather Exposure to Sunlight, the pe sheath on cable surface will produce sclerosis and cracking phenomena in various degree, brings the serious problems such as rust staining, fracture of wire to the steel tendon in sheath; Because Wind induced Random, rain shake, make the steel wire in cable produce micro-friction simultaneously, then cause serious fracture of wire problem, to cable stayed bridge, bury serious hidden danger.Because cable stayed bridge is the bridges just rising nearest decades, the cable-maintaining measure matching with the main bearing member cable of cable stayed bridge is still far from perfect.
In early days the detection of cable is dragged to hanging basket dolly in artificial mode with safeguarding employing hoist engine.The shortcoming of hanging basket dolly operating type is: 1. dolly weight is large, hanging basket dolly adds that two staff weigh seven or eight hundred kilograms, and in order to reduce lifting force, adopted hard nylon wheel to be pressed on cable, this not only can scrape scratch coat, and can abrade the PE overcoat on cable surface, when serious, even can cut off steel wire; 2. the construction period is long, cost is high, and the duration of cleaning whole cables on bridge of application reaches the several months long, and various expense is higher; 3. the environment of workman work is exceedingly odious, and staff, the work high above the ground of more than 100 meters, not only faces strong wind, is difficult to the situation of communication, and have the generation of personnel casualty accidents.
In recent years, pneumatic, the electronic cable robot of many moneys of being developed by Shanghai Communications University has larger improvement than before, substantially meet general instructions for use, but also there is mechanical construction and control system complicated, contingency robot is difficult to auto-returned ground, practical operation inconvenience, therefore fails to be widely used.
Summary of the invention
For existing cable robot, be difficult to when the accident power-off auto-returned ground, robot when consuming mass energy and returning when normally returning to ground speed be difficult to the problem automatically regulating, the invention provides a kind of speed-self-adjustable cable robot.
For addressing the above problem, the present invention adopts following technical scheme.
A kind of speed-self-adjustable cable robot, it comprises frame, roller, main shaft, rolling bearing A, synchronous pulley A, Timing Belt, synchronous pulley B, synchronous motor, in frame, be provided with rolling bearing A, synchronous motor, spindle mounted is in rolling bearing A, main shaft one end is connected with synchronous pulley A, and roller is assemblied on main shaft, and roller arc surface is pressed on cable surface, synchronous pulley B is assemblied on synchronous motor main shaft, and synchronous pulley A and synchronous pulley B are meshed with Timing Belt; Speed-self-adjustable cable robot also comprises return mechanism, and described return mechanism consists of speed increasing mechanism and internal expanding block brake mechanism.
Described speed increasing mechanism comprises power transmission shaft, rolling bearing B, gear B, gear A, described rolling bearing B is fixed in frame, described drive shaft cartridge is assigned in rolling bearing B, described gear B is assemblied on power transmission shaft by key, and be meshed with gear A, described gear A is assemblied on main shaft by key and axial back-up ring.
Described internal expanding block brake mechanism comprises braked wheel, flange, brake shoe, cam, tensioning spring, turning cylinder, axle sleeve, and described flange is assemblied on main shaft by key, and the through hole of described braked wheel passes main shaft, and is connected with flange by bolt; Described cam is assemblied on power transmission shaft by key; It is semicircle that described brake shoe section becomes, and its one end is provided with unthreaded hole, is provided with turning cylinder in hole, and its other end is pressed on cam, and described brake shoe number is 2, is arranged symmetrically with, and is provided with link in one end of close cam along the line of cam and turning cylinder; Described tensioning spring two ends are connected on the link of two brake shoes; Described axle sleeve is fixed in frame, and one end of described turning cylinder is loaded on axle sleeve by nut, and axle sleeve and turning cylinder are matched in clearance.
Described tensioning spring is extension spring; The quantity of described return mechanism is 1～2.
Than prior art, beneficial effect of the present invention is:
(1) the present invention is when backhaul, utilize main shaft to drive speed increasing mechanism operation, due to the accelerating function of speed increasing mechanism, make the output speed of speed increasing mechanism much larger than the speed of mainshaft, thereby the operating frequency that has increased internal expanding block brake mechanism slows down robot more obvious in decline process.
(2) the present invention utilizes main shaft to drive speed increasing mechanism operation, speed increasing mechanism drives the operation of internal expanding block brake mechanism, internal expanding block brake mechanism reacts on the braked wheel being connected with main shaft, has formed a closed loop feedback system, thereby can realize the automatic adjusting of rotating speed; Due to the rotating speed of main shaft, determined again the decrease speed of robot, so the decrease speed of robot can realize automatic adjusting, realize robot close to device descending at constant speed.
(3) the present invention is when accident power-off, and due to the power source of losing the job, motor is out of service, but return mechanism utilizes robot self gravitation to start working, make robot close at the uniform velocity falling, thereby prevent that robot from causing and rushing the generation of cable accident because declining at a high speed, avoids bridge to damage.
(4) the present invention is when need normally return to ground, and powered-down, utilizes robot self gravitation effect, and return mechanism is started working, and makes robot security return to ground, can save mass energy.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is along the sectional view of A-A in Fig. 1;
Fig. 3 is the partial enlarged drawing of I in Fig. 1;
Fig. 4 is along the sectional view of B-B in Fig. 3.
In figure: 1-cable, 2-frame, 3-roller, 4-main shaft, 5-rolling bearing A, 6-synchronous pulley A, 7-Timing Belt, 8-synchronous pulley B, 9-synchronous motor, 10-braked wheel, 11-flange, 12-brake shoe, 13-cam, 14-tensioning spring, 15-power transmission shaft, 16-rolling bearing B, 17-gear B, 18-gear A, 19-turning cylinder, 20-axle sleeve, I-return mechanism, II-speed increasing mechanism, III-internal expanding block brake mechanism.
The specific embodiment
Below in conjunction with accompanying drawing, describe the present invention.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, speed-self-adjustable cable robot comprises frame 2, roller 3, main shaft 4, rolling bearing A5, synchronous pulley A6, Timing Belt 7, synchronous pulley B8, synchronous motor 9, in frame 2, be provided with rolling bearing A5, synchronous motor 9, main shaft 4 is assemblied in rolling bearing A5, main shaft 4 one end are connected with synchronous pulley A6, roller 3 is assemblied on main shaft 4, roller 3 arc surfaces are pressed on cable 1 surface, synchronous pulley B8 is assemblied on synchronous motor 9 main shafts, and synchronous pulley A6 and synchronous pulley B8 are meshed with Timing Belt 7; Speed-self-adjustable cable robot also comprises return mechanism I, and described return mechanism I consists of speed increasing mechanism II and internal expanding block brake mechanism III.
As shown in Figure 2 and Figure 3, described speed increasing mechanism II comprises power transmission shaft 15, rolling bearing B16, gear B 17, gear A 18, described rolling bearing B16 is fixed in frame 2, described power transmission shaft 15 is assemblied in rolling bearing B16, described gear B 17 is assemblied on power transmission shaft 15 by key, and be meshed with gear A 18, described gear A 18 is assemblied on main shaft 4 by key and axial back-up ring.
As shown in Figure 3, Figure 4, III comprises braked wheel 10, flange 11, brake shoe 12, cam 13, tensioning spring 14, turning cylinder 19, axle sleeve 20, described flange 11 is assemblied on main shaft 4 by key, and the through hole of described braked wheel 10 passes main shaft 4, and is connected with flange 11 by bolt; Described cam 13 is assemblied on power transmission shaft 15 by key; Described brake shoe 12 sections become semicircle, and its one end is provided with unthreaded hole, is provided with turning cylinder 19 in hole, its other end is pressed on cam 13, described brake shoe 12 numbers are 2, be arranged symmetrically with, and be provided with link in the one end near cam 13 along cam 13 and the line of turning cylinder 19; Described tensioning spring 14 two ends are connected on the link of two brake shoes 12; Described axle sleeve 20 is fixed in frame 2, and one end of described turning cylinder 19 is loaded on axle sleeve 20 by nut, and axle sleeve 20 is matched in clearance with turning cylinder 19.
Described tensioning spring 14 is extension spring; The quantity of described return mechanism I is 1～2.
Robot works on cable stayed bridge, and when occurring accident power-off situation or needing normal power down to return, return mechanism I is started working.Robot is due to self gravitation effect fast-descending, main shaft 4 High Rotation Speeds.Now, main shaft 4 drives the operation of speed increasing mechanism II, speed increasing mechanism II drives the III operation of internal expanding block brake mechanism, internal expanding block brake mechanism III reacts on the braked wheel 10 being connected with main shaft 4, due to the rubbing action of brake shoe 12 with braked wheel 10, the rotating speed of main shaft 4 is reduced, thereby the decrease speed of robot is reduced.
While is due to the accelerating function of speed increasing mechanism II, make the output speed of speed increasing mechanism II much larger than main shaft 4 rotating speeds, thereby the operating frequency that has increased internal expanding block brake mechanism III slows down robot more obvious in decline process, allow robot decline safer.
And main shaft 4 drives the operation of speed increasing mechanism II, speed increasing mechanism II drives the III operation of internal expanding block brake mechanism, internal expanding block brake mechanism III reacts on the braked wheel 10 being connected with main shaft 4, has formed a closed loop feedback system, thereby can realize the automatic adjusting of rotating speed; Due to the rotating speed of main shaft 4, determined again the decrease speed of robot, therefore, the decrease speed of robot can realize automatic adjusting, realizes close to device descending at constant speed.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, speed-self-adjustable cable robot comprises frame 2, roller 3, main shaft 4, rolling bearing A5, synchronous pulley A6, Timing Belt 7, synchronous pulley B8, synchronous motor 9, in frame 2, be provided with rolling bearing A5, synchronous motor 9, main shaft 4 is assemblied in rolling bearing A5, main shaft 4 one end are connected with synchronous pulley A6, roller 3 is assemblied on main shaft 4, roller 3 arc surfaces are pressed on cable 1 surface, synchronous pulley B8 is assemblied on synchronous motor 9 main shafts, and synchronous pulley A6 and synchronous pulley B8 are meshed with Timing Belt 7; Speed-self-adjustable cable robot also comprises return mechanism I, and described return mechanism I consists of speed increasing mechanism II and internal expanding block brake mechanism III.
Described speed increasing mechanism II comprises power transmission shaft 15, rolling bearing B16, gear B 17, gear A 18, described rolling bearing B16 is fixed in frame 2, described power transmission shaft 15 is assemblied in rolling bearing B16, described gear B 17 is assemblied on power transmission shaft 15 by key, and be meshed with gear A 18, described gear A 18 is assemblied on main shaft 4 by key and axial back-up ring.
Described internal expanding block brake mechanism III comprises braked wheel 10, flange 11, brake shoe 12, cam 13, tensioning spring 14, turning cylinder 19, axle sleeve 20, described flange 11 is assemblied on main shaft 4 by key, the through hole of described braked wheel 10 passes main shaft 4, and is connected with flange 11 by bolt; Described cam 13 is assemblied on power transmission shaft 15 by key; Described brake shoe 12 sections become semicircle, and its one end is provided with unthreaded hole, is provided with turning cylinder 19 in hole, its other end is pressed on cam 13, described brake shoe 12 numbers are 2, be arranged symmetrically with, and be provided with link in the one end near cam 13 along cam 13 and the line of turning cylinder 19; Described tensioning spring 14 two ends are connected on the link of two brake shoes 12; Described axle sleeve 20 is fixed in frame 2, and one end of described turning cylinder 19 is loaded on axle sleeve 20 by nut, and axle sleeve 20 is matched in clearance with turning cylinder 19.
Described tensioning spring 14 is extension spring; The quantity of described return mechanism I is 1.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, speed-self-adjustable cable robot comprises frame 2, roller 3, main shaft 4, rolling bearing A5, synchronous pulley A6, Timing Belt 7, synchronous pulley B8, synchronous motor 9, in frame 2, be provided with rolling bearing A5, synchronous motor 9, main shaft 4 is assemblied in rolling bearing A5, main shaft 4 one end are connected with synchronous pulley A6, roller 3 is assemblied on main shaft 4, roller 3 arc surfaces are pressed on cable 1 surface, synchronous pulley B8 is assemblied on synchronous motor 9 main shafts, and synchronous pulley A6 and synchronous pulley B8 are meshed with Timing Belt 7; Speed-self-adjustable cable robot also comprises return mechanism I, and described return mechanism I consists of speed increasing mechanism II and internal expanding block brake mechanism III.
Described speed increasing mechanism II comprises power transmission shaft 15, rolling bearing B16, gear B 17, gear A 18, described rolling bearing B16 is fixed in frame 2, described power transmission shaft 15 is assemblied in rolling bearing B16, described gear B 17 is assemblied on power transmission shaft 15 by key, and be meshed with gear A 18, described gear A 18 is assemblied on main shaft 4 by key and axial back-up ring.
Described internal expanding block brake mechanism III comprises braked wheel 10, flange 11, brake shoe 12, cam 13, tensioning spring 14, turning cylinder 19, axle sleeve 20, described flange 11 is assemblied on main shaft 4 by key, the through hole of described braked wheel 10 passes main shaft 4, and is connected with flange 11 by bolt; Described cam 13 is assemblied on power transmission shaft 15 by key; Described brake shoe 12 sections become semicircle, and its one end is provided with unthreaded hole, is provided with turning cylinder 19 in hole, its other end is pressed on cam 13, described brake shoe 12 numbers are 2, be arranged symmetrically with, and be provided with link in the one end near cam 13 along cam 13 and the line of turning cylinder 19; Described tensioning spring 14 two ends are connected on the link of two brake shoes 12; Described axle sleeve 20 is fixed in frame 2, and one end of described turning cylinder 19 is loaded on axle sleeve 20 by nut, and axle sleeve 20 is matched in clearance with turning cylinder 19.
Described tensioning spring 14 is extension spring; The quantity of described return mechanism I is 2.
Claims (5)
1. a speed-self-adjustable cable robot, comprise frame (2), roller (3), main shaft (4), rolling bearing A(5), synchronous pulley A(6), Timing Belt (7), synchronous pulley B(8), synchronous motor (9), frame is provided with rolling bearing A(5 on (2)), synchronous motor (9), main shaft (4) is assemblied in rolling bearing A(5) in, main shaft (4) one end and synchronous pulley A(6) be connected, roller (3) is assemblied on main shaft (4), roller (3) arc surface is pressed on cable (1) surface, synchronous pulley B(8) be assemblied on synchronous motor (9) main shaft, synchronous pulley A(6) and synchronous pulley B(8) be all meshed with Timing Belt (7), it is characterized in that, also comprise return mechanism (I), described return mechanism (I) consists of speed increasing mechanism (II) and internal expanding block brake mechanism (III).
2. speed-self-adjustable cable robot according to claim 1, it is characterized in that, described speed increasing mechanism (II) comprises power transmission shaft (15), rolling bearing B(16), gear B (17), gear A (18), described rolling bearing B(16) be fixed in frame (2), described power transmission shaft (15) is assemblied in rolling bearing B(16) in, described gear B (17) is assemblied on power transmission shaft (15) by key, and be meshed with gear A (18), described gear A (18) is assemblied on main shaft (4) by key and axial back-up ring.
3. speed-self-adjustable cable robot according to claim 1, it is characterized in that, described internal expanding block brake mechanism (III) comprises braked wheel (10), flange (11), brake shoe (12), cam (13), tensioning spring (14), turning cylinder (19), axle sleeve (20), described flange (11) is assemblied on main shaft (4) by key, the through hole of described braked wheel (10) passes main shaft (4), and is connected with flange (11) by bolt; Described cam (13) is assemblied on power transmission shaft (15) by key; It is semicircle that described brake shoe (12) section becomes, its one end is provided with unthreaded hole, in hole, be provided with turning cylinder (19), its other end is pressed on cam (13), described brake shoe (12) number is 2, along cam (13) and the line of turning cylinder (19), be arranged symmetrically with, and be provided with link in the one end near cam (13); Described tensioning spring (14) two ends are connected on the link of two brake shoes (12); It is upper that described axle sleeve (20) is fixed on frame (2), and it is upper that one end of described turning cylinder (19) is loaded on axle sleeve (20) by nut, and axle sleeve (20) is matched in clearance with turning cylinder (19).
4. speed-self-adjustable cable robot according to claim 3, is characterized in that, described tensioning spring (14) is extension spring.
5. speed-self-adjustable cable robot according to claim 1, is characterized in that, the quantity of described return mechanism (I) is 1～2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310703732.2A CN103643630B (en) | 2013-12-20 | 2013-12-20 | Speed-self-adjustable cable robot |
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| CN201310703732.2A CN103643630B (en) | 2013-12-20 | 2013-12-20 | Speed-self-adjustable cable robot |
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| CN103643630A true CN103643630A (en) | 2014-03-19 |
| CN103643630B CN103643630B (en) | 2016-05-04 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104131511A (en) * | 2014-07-14 | 2014-11-05 | 武汉恒兴通检测有限公司 | Cable rope detection robot based on parallelogram independent suspension |
| CN107881923A (en) * | 2017-12-19 | 2018-04-06 | 中建四局第三建筑工程有限公司 | A kind of cable bridge main rope fast erecting method and device |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN108908366A (en) * | 2018-08-01 | 2018-11-30 | 浙江树人学院 | A kind of automatic detection overpass robot |
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| CN202023146U (en) * | 2011-04-21 | 2011-11-02 | 广州市承信公路工程检验有限公司 | Cable detection robot for cable-stayed bridge |
| CN102632937A (en) * | 2012-05-04 | 2012-08-15 | 安徽工业大学 | Crawling mechanism for peristaltic cable robot |
| CN203639818U (en) * | 2013-12-20 | 2014-06-11 | 包贤强 | Self speed-regulation cable robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104131511A (en) * | 2014-07-14 | 2014-11-05 | 武汉恒兴通检测有限公司 | Cable rope detection robot based on parallelogram independent suspension |
| CN107881923A (en) * | 2017-12-19 | 2018-04-06 | 中建四局第三建筑工程有限公司 | A kind of cable bridge main rope fast erecting method and device |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN108562531B (en) * | 2018-01-29 | 2020-12-01 | 鲁东大学 | Bridge suspension cable corrosion detection equipment |
| CN108908366A (en) * | 2018-08-01 | 2018-11-30 | 浙江树人学院 | A kind of automatic detection overpass robot |
| CN108908366B (en) * | 2018-08-01 | 2021-09-07 | 浙江树人学院 | Automatic detect overpass robot |
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| CN103643630B (en) | 2016-05-04 |
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Effective date of registration: 20191209 Address after: 314200 floor 2, neinan building, No.8, Chuangxin Road, Xindai Town, Pinghu City, Jiaxing City, Zhejiang Province Patentee after: Pinghu Zhongmai Magnetism Industry Co., Ltd. Address before: 102600 Unit 317, Unit 1, Building 3, No. 2, Yueyuan Road, Daxing District, Beijing Patentee before: Beijing informed investment home intellectual property rights Operation Co., Ltd. |