CN112959339A - Balance clamping shock-absorbing device for stay cable detection robot - Google Patents
Balance clamping shock-absorbing device for stay cable detection robot Download PDFInfo
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- CN112959339A CN112959339A CN202110341287.4A CN202110341287A CN112959339A CN 112959339 A CN112959339 A CN 112959339A CN 202110341287 A CN202110341287 A CN 202110341287A CN 112959339 A CN112959339 A CN 112959339A
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- robot
- force arm
- absorbing device
- roller
- stay cable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a balance clamping shock-absorbing device for a stay cable detection robot, which comprises a robot frame and two walking units arranged on the robot frame, wherein the two walking units are oppositely clamped on a stay cable, and each walking unit comprises: a first force arm support rotatably disposed at an upper end of the robot frame; the second force arm bracket is rotatably arranged at the lower end of the robot frame, the roller is arranged on the second force arm bracket, and the roller is abutted to the inhaul cable; a hinge arrangement hingedly connected between the first and second force arm cradles; the electric push rod is hinged between the first force arm bracket and the second force arm bracket. The balance clamping shock-absorbing device used on the stay cable detection robot simplifies the components of the shock-absorbing device, and has a compact structure; the cable diameter variation range capable of being detected is larger.
Description
Technical Field
The invention belongs to the technical field of climbing cable mechanical equipment facilities, and particularly relates to a balanced clamping shock-absorbing device for a stay cable detection robot.
Background
The stay cable is a main bearing part which directly transmits the weight of the main girder and the bridge deck of the cable-stayed bridge to the tower. The stay cable material of cable-stay bridge is the cable wire usually, and the cable wire overcoat is equipped with the PE sheath, and stay cable inspection robot can climb up along the automatic along the stay cable, looks over the automation equipment of the outward appearance condition of stay cable PE sheath through the camera that the robot loaded, and in recent years, along with the quantity increase day by day of the cable-stay bridge of building in every place, also becomes more important to the detection of stay cable.
The shock-proof device of current suspension cable inspection robot is through spring coupling movable base and wheel support, adopts trilateral tight mode of clamp to make the robot press from both sides tightly on the cable, climbs or descends through motor drive wheel, and in the operation in-process, when the winding stormy wires that the wheel ground the cable crossed other little obstacles, shock-proof device can automatically regulated wheel stretch out and draw back to do not harm the stormy wires and alleviate wheel wearing and tearing when guaranteeing to rub force between wheel and the cable.
However, the prior art has the following technical problems in the practical application process:
because the stress of the spring of the shock-absorbing device is vertical to the surface of the inhaul cable, the clamping mode of the robot is limited, the three-side clamping mode can firmly clamp, but six electric push rods are needed to form a triangle, the whole appearance of the robot is very large and heavy, and the influence on daily transportation and actual use is realized;
the motor and the wheels are arranged at the innermost part of the robot, and the robot has a large body shape, and the center of gravity is located at the center of the robot, namely the position of the wheels, so that when a guy cable with a small cable diameter is detected, even if the shock absorption device is arranged at the end of the wheel at one side in the acceleration or deceleration process of the robot, large stress can be generated on the guy cable, and the surface of the guy cable can be damaged;
also because of the structural problems of the robot, the maximum cable diameter detectable by the robot is reduced while the robot is kept as small as possible.
Based on the technical problems in the prior art, the invention provides a balance clamping shock-absorbing device for a stay cable detection robot.
Disclosure of Invention
The invention provides a balance clamping shock-absorbing device for a stay cable detection robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a balanced tight seismic isolation device that presss from both sides for on suspension cable detection robot, includes the robot frame and establishes two walking units on the robot frame, two the relative centre gripping of walking unit is on the cable, walking unit includes:
the first force arm support is rotatably arranged at the upper end of the robot frame, a roller is arranged on the first force arm support and abuts against the inhaul cable, and the roller is driven by a servo motor;
the second force arm bracket is rotatably arranged at the lower end of the robot frame, the roller is arranged on the second force arm bracket, and the roller is abutted to the inhaul cable;
one end of the hinge device is hinged to the first force arm support, and the other end of the hinge device is hinged to the second force arm support;
one end of the electric push rod is hinged to the first force arm support, and the other end of the electric push rod is hinged to the second force arm support.
Further, the first and/or second force arm braces are "L" shaped structures.
Further, the hinge device is a hinge set, an intermediate shaft of the hinge set is fixedly arranged on the robot frame, the upper end of the hinge set is hinged to the first force arm support, and the lower end of the hinge set is hinged to the second force arm support.
Furthermore, a hinge group sliding groove is formed in the outer side of the hinge group, and the hinge group sliding groove is fixedly arranged on the robot frame.
Further, the electric push rod comprises a base, a cylinder barrel fixedly arranged on the base, a push rod capable of being arranged in the cylinder barrel in a telescopic mode, a spring fixedly arranged at the top end of the push rod and an articulated block fixedly arranged at the top end of the spring, and the articulated block is connected to the first force arm support.
Further, the first force arm support comprises a first support unit, a second support unit and a connecting rod fixedly arranged between the first support unit and the second support unit, the first support unit and the second support unit are both of L-shaped structures, and the first support unit and the second support unit are both provided with roller units.
Furthermore, a camera for shooting cable images or video data is arranged on the robot frame.
Furthermore, a speed alarm is arranged on the robot frame and connected to the robot controller, and an alarm threshold value of the speed alarm is determined according to the falling speed of the sling.
Further, the robot controller is connected to an upper computer to send control information and video information transmitted by the camera to the upper computer.
Furthermore, the robot frame is composed of 6 frame plates which are connected with each other to form a regular hexagon robot frame, and the two walking units are respectively and fixedly arranged on the two opposite frame plates.
Further, be equipped with pressure sensor on the gyro wheel, pressure sensor connect in robot controller is in order to send the gyro wheel is pressed the pressure on the cable.
Further, the robot controller adopts a single chip microcomputer.
Compared with the prior art, the invention has the following advantages:
1. according to the balance clamping shock-absorbing device for the stay cable detection robot, the first force arm support, the second force arm support and the electric push rod are arranged in a matched mode, so that the component parts of the shock-absorbing device are simplified, and the structure is compact;
2. according to the balance clamping shock-absorbing device for the stay cable detection robot, the first force arm bracket and the second force arm bracket can synchronously move through the matching arrangement of the hinge device and the electric push rod, so that the roller synchronously applies or reduces pressure, and the clamping effect on a stay cable is better;
3. according to the balance clamping shock-absorbing device for the stay cable detection robot, the first force arm support and the second force arm support are arranged to be of L-shaped structures and are pressed in an inward rotating mode, so that the inner space of the robot is enlarged, and the detectable cable diameter change range is enlarged.
Drawings
Fig. 1 is a schematic view of an angle structure of a balance clamping shock-absorbing device for a stay cable detection robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another angle of the balance clamping shock-absorbing device for the stay cable inspection robot according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of the walking unit in the embodiment of the present invention.
In the figure, 1-robot frame, 11-camera, 12-frame plate, 2-walking unit, 201-roller, 2011-roller unit, 21-first force arm support, 211-first support unit, 212-second support unit, 213-connecting rod, 22-second force arm support, 23-hinge device, 24-electric push rod, 241-base, 242-cylinder barrel, 243-push rod, 244-spring, 245-hinge block and 25-servo motor.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments, it being understood that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.
Examples
As shown in fig. 1-3, the balance clamping shock absorber for stay cable detection robot includes a robot frame 1 and two walking units 2 disposed on the robot frame 1, two walking units 2 are clamped on the stay cable, and each walking unit 2 includes:
the first force arm support 21 is rotatably arranged at the upper end of the robot frame 1, a roller 201 is arranged on the first force arm support 21, the roller 201 abuts against a cable, and the roller 211 is driven by a servo motor 25;
the second force arm bracket 22 is rotatably arranged at the lower end of the robot frame 1, the roller 201 is arranged on the second force arm bracket 22, and the roller 201 abuts against a guy cable;
a hinge means 23, one end of said hinge means 23 being hingedly connected to said first force arm support 21 and the other end of said hinge means 23 being hingedly connected to said second force arm support 22;
one end of the electric push rod 24 is hinged on the first force arm bracket 21, and the other end of the electric push rod 24 is hinged on the second force arm bracket 22.
In the above embodiment, the roller 201 adopts an aluminum core rubber wheel to reduce weight and have good vibration filtering effect;
the roller 201 is driven by the motor to ascend and descend;
adjusting the force of the roller 201 on the cable by the angle transition of the first force arm bracket 21 and/or the second force arm bracket 22;
the angle adjustment of the first force arm bracket 21 and the second force arm bracket 22 is realized by the extension and contraction of the electric push rod 24, and further, the force of the roller 201 pressing on the inhaul cable is adjusted.
In the actual working process, 4 cameras 11 are arranged on the robot frame 1 to respectively acquire videos and image information of different parts of the inhaul cable, a detector can know the condition of the inhaul cable in real time by remotely watching the video information transmitted by the cameras 11, when a fault occurs (for example, the robot frame rapidly slides down on the inhaul cable, namely, the inhaul cable slides), the force of the roller 201 pressing on the inhaul cable is increased by controlling the angles of the first force arm support 21 and the second force arm support 22, so that the rotation speed of the roller 201 is reduced, and the inhaul cable is prevented;
as an improvement of the above embodiment, a speed alarm is arranged on the robot frame 1, the speed alarm is connected to the robot controller, and an alarm threshold of the speed alarm is determined according to the falling speed of the sling.
The robot controller is connected to the servo motor 25 and the electric push rod 24 to control the servo motor 25 and the electric push rod 24;
the robot controller adopts a singlechip.
The robot controller is connected to an upper computer to send control information and video information transmitted by the camera 11 to the upper computer.
Robot frame 1 comprises 6 interconnect's deckle board 12, constitutes regular hexagon's robot frame 1, two walking unit 2 are fixed respectively and set up on relative two sides on deckle board 12, during the practical application, open two adjacent deckle board 12 will robot frame 1 cover is in on the cable, again with two adjacent deckle board 12 fixed connection is in an organic whole, wherein, two adjacent that can open deckle board 12 fixes through the plum blossom handle screw, and other are adjacent the deckle board is fixed through the cross screw.
In the above embodiment, the roller 201 is provided with a pressure sensor, and the pressure sensor is connected to the robot controller to send the pressure of the roller 201 on the cable.
The first force arm support 21 and/or the second force arm support 22 is/are of an "L" shaped configuration.
In the embodiment, the L-shaped structure rotates inwards to be compressed, so that the inner space of the robot is enlarged, and the detectable cable diameter change range is enlarged.
The hinge device 23 is a hinge set, an intermediate shaft of the hinge set is fixedly arranged on the robot frame, an upper end of the hinge set is hinged to the first force arm bracket 21, and a lower end of the hinge set is hinged to the second force arm bracket 22.
In the above embodiment, the middle shaft of the hinge set is fixed, so that the upper end and the lower end of the hinge set are compressed or stretched synchronously, and further, the first force arm bracket 21 and the second force arm bracket 22 rotate at the same angle, so that the force of the roller 201 pressing on the cable is uniform.
And a hinge group sliding groove is formed in the outer side of the hinge group and is fixedly arranged on the robot frame 1.
In the above embodiment, the movement of the hinge group is limited in the hinge group sliding groove by the hinge group sliding groove, which is beneficial to the consistent expansion and contraction amplitude of the two ends of the hinge group.
The electric push rod 24 comprises a base 241, a cylinder 242 fixedly arranged on the base 241, a push rod 243 telescopically arranged in the cylinder 242, a spring 244 fixedly arranged at the top end of the push rod 243 and an articulated block 245 fixedly arranged at the top end 244 of the spring, wherein the articulated block 245 is connected with the first force arm support 21.
The first arm support 21 comprises a first support unit 211, a second support unit 212 and a connecting rod 213 fixedly arranged between the first support unit 211 and the second support unit 212, the first support unit 211 and the second support unit 212 are both in an L-shaped structure, and the first support unit 211 and the second support unit 212 are both provided with roller units 2011.
The second arm brace 22 is identical in construction to the first arm brace 21.
The present invention is not limited to the above-described embodiments, which are described in the specification and illustrated only for illustrating the principle of the present invention, but various changes and modifications may be made within the scope of the present invention as claimed without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. The utility model provides a balanced tight seismic isolation device that presss from both sides for on suspension cable detection robot, includes the robot frame and establishes two walking units on the robot frame, two the relative centre gripping of walking unit is on the cable, its characterized in that, walking unit includes:
the first force arm support is rotatably arranged at the upper end of the robot frame, a roller is arranged on the first force arm support and abuts against the inhaul cable, and the roller is driven by a servo motor;
the second force arm bracket is rotatably arranged at the lower end of the robot frame, the roller is arranged on the second force arm bracket, and the roller is abutted to the inhaul cable;
one end of the hinge device is hinged to the first force arm support, and the other end of the hinge device is hinged to the second force arm support;
one end of the electric push rod is hinged to the first force arm support, and the other end of the electric push rod is hinged to the second force arm support.
2. The apparatus of claim 1, wherein the first force arm support and/or the first force arm support is an "L" shaped structure.
3. The balance clamping and shock absorbing device for the stay cable detecting robot as claimed in claim 1, wherein the hinge device is a hinge set, an intermediate shaft of the hinge set is fixedly arranged on the robot frame, an upper end of the hinge set is hinged to the first force arm bracket, and a lower end of the hinge set is hinged to the second force arm bracket.
4. The balance clamping and shock absorbing device for the stay cable detecting robot as claimed in claim 3, wherein a hinge set sliding groove is formed in the outer side of the hinge set, and the hinge set sliding groove is fixedly formed in the robot frame.
5. The balance clamping and shock absorbing device for the stay cable detection robot as claimed in claim 1, wherein the electric push rod comprises a base, a cylinder fixedly arranged on the base, a push rod capable of being telescopically arranged in the cylinder, a spring fixedly arranged at the top end of the push rod and an articulated block fixedly arranged at the top end of the spring, and the articulated block is fixedly articulated with the first force arm support.
6. The balance clamping and shock absorbing device for the stay cable detecting robot as recited in claim 1, wherein the first force arm support comprises a first support unit, a second support unit and a connecting rod fixedly arranged between the first support unit and the second support unit, the first support unit and the second support unit are both of an "L" shaped structure, and the first support unit and the second support unit are both provided with roller units.
7. The balanced clamping and shock absorbing device for the stay cable detecting robot as claimed in claim 1, wherein the robot frame is provided with a speed alarm, and the speed alarm is connected to the robot controller.
8. The balanced clamping and shock absorbing device for the stay cable detecting robot as claimed in claim 7, wherein the robot controller is connected to an upper computer to send control information and video information transmitted from the camera to the upper computer.
9. The balanced clamping and shock absorbing device for the stay cable detecting robot as claimed in claim 8, wherein the robot frame is composed of 6 frames connected with each other to form a regular hexagonal robot frame, and the two walking units are respectively fixed on the two opposite frames.
10. The balanced clamping and shock absorbing device for the stay cable detecting robot as claimed in claim 9, wherein the roller is provided with a pressure sensor, and the pressure sensor is connected to the robot controller to send the pressure of the roller on the stay cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110341287.4A CN112959339A (en) | 2021-03-30 | 2021-03-30 | Balance clamping shock-absorbing device for stay cable detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110341287.4A CN112959339A (en) | 2021-03-30 | 2021-03-30 | Balance clamping shock-absorbing device for stay cable detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN112959339A true CN112959339A (en) | 2021-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110341287.4A Pending CN112959339A (en) | 2021-03-30 | 2021-03-30 | Balance clamping shock-absorbing device for stay cable detection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524250A (en) * | 2021-08-21 | 2021-10-22 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
| CN113984353A (en) * | 2021-09-14 | 2022-01-28 | 上海浦江缆索股份有限公司 | Bridge suspension cable detection robot based on gradient detection system |
| CN115754214A (en) * | 2022-12-21 | 2023-03-07 | 杭州鼎成缆索科技有限公司 | Self-walking performance detection robot for bridge inhaul cable |
-
2021
- 2021-03-30 CN CN202110341287.4A patent/CN112959339A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524250A (en) * | 2021-08-21 | 2021-10-22 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
| CN113524250B (en) * | 2021-08-21 | 2022-12-13 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
| CN113984353A (en) * | 2021-09-14 | 2022-01-28 | 上海浦江缆索股份有限公司 | Bridge suspension cable detection robot based on gradient detection system |
| CN113984353B (en) * | 2021-09-14 | 2024-07-12 | 上海浦江缆索股份有限公司 | Bridge stay cable detection robot based on gradient detection system |
| CN115754214A (en) * | 2022-12-21 | 2023-03-07 | 杭州鼎成缆索科技有限公司 | Self-walking performance detection robot for bridge inhaul cable |
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