CN202543797U - Cable climbing robot - Google Patents
Cable climbing robot Download PDFInfo
- Publication number
- CN202543797U CN202543797U CN201220135217XU CN201220135217U CN202543797U CN 202543797 U CN202543797 U CN 202543797U CN 201220135217X U CN201220135217X U CN 201220135217XU CN 201220135217 U CN201220135217 U CN 201220135217U CN 202543797 U CN202543797 U CN 202543797U
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- screw mandrel
- rolling wheel
- guide rail
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Abstract
The utility model discloses a cable climbing robot, and aims to provide the cable climbing robot which has a good holding effect, can climb stably and has a good obstacle cross effect. The cable climbing robot comprises two trolleys which are symmetrically arranged along the circumferential direction of a cable and a holding device which is arranged on the two trolleys and are used for holding the cable, wherein the holding device comprises guide rails which are respectively arranged on the front parts and the rear parts of the two trolleys and are parallel to each other, and the guide rails are vertical to the axis of the cable; two idler wheel supports are arranged on each rails in a sliding manner, and springs are arranged between each idler wheel support and a trolley body along the guide rail direction; idler wheels which rotate around the rotating shafts are respectively arranged on the idler wheel supports; the idler wheels form four-point support holding on the cable; and at least on idler wheel is provided with a drive device.
Description
Technical field
The utility model relates to a kind of industrial robot, is specifically related to a kind of cable robot of climbing that is used to detect cable.
Background technology
The main bearing member of cable stayed bridge, suspension bridge is a cable, and the cable long term exposure receives wind, Exposure to Sunlight, drenches with rain and the erosion of environment pollution among atmosphere, and its surface can receive more serious destruction, and this can bring adverse influence to the bed rearrangement cable stayed bridge.Therefore, the detection to cable is very necessary with maintenance.The detection of present bridge cable and maintenance prevention be imperfection also, and the detection of cable mainly is to accomplish through manual work with safeguarding.For example, a kind of detection commonly used and maintenance mode: drag dolly through hoist engine, the lift-launch detecting sensor detects cable and safeguards, but the inefficiency of this mode.
To these problems, some utility model people have designed the industrial robot that is used to detect, safeguard cable.For example, Chinese patent publication number CN101357637, open day on 02 04th, 2009; The name that utility model is created is called cable detecting robot; This application case discloses a kind of cable detecting robot, is connected to form through connector by two dollies that are uniformly distributed with along the cable circumferencial direction, and initiatively dolly is provided with climbing device therein; Another driven dolly is provided with clamping device, and connector is provided with anti-deflection device; Said climbing device has comprised lithium battery that is fixed on the dolly car body and the direct current generator that is fixed on dolly car body driving wheel one side; Said clamping device has comprised that an end and dolly car body radially wobble the support arm of flexible connection along dolly, extension spring and be connected in the pulley of support arm.The cable detecting robot of this utility model has following deficiency: one of which; Because its pair of rollers cable through two V-arrangement cross sections is held tightly; Its armful pulled poor effect, climbs the stability that cable, influence are climbed cable because the effect of wind-force can produce spiral when climbing cable in the high-altitude.Its two because its driving wheel fixedly installs, make its in climbing the cable process to the obstacle detouring poor effect of local disturbance.Its three therefore because clamping device is fixed the power of holding tightly of cable in climbing the cable process, can't solve the dolly that occurs in the cable process these the abnormal situations of skidding, fall back of climbing; This also is cable detecting robot never obtains fine solution in climbing the cable process a problem.
The utility model content
First purpose of the utility model is to pull poor effect in order to overcome embracing of cable detecting robot in the prior art; Be prone to produce spiral and climb cable, influence stability; And climb in the cable process problem, but a kind of quiet climb is provided, embrace and pull the cable robot of climbing effective and that have good obstacle detouring effect to the obstacle detouring poor effect of local disturbance.
Second purpose of the utility model is can not well solve the problem of climbing the situation that the dolly that occurs in the cable process skids, falls back in order to overcome cable detecting robot in the prior art; Provide a kind of and can effectively solve the situation that the dolly that occurs in the cable process skids, falls back of climbing, also climb cable robot simultaneously applicable to what the cable that multiple diameter is varied in size detected.
The technical scheme of the utility model is:
A kind of cable robot of climbing; Comprise along symmetrically arranged two dollies of cable circumferencial direction and be arranged on the enclasp device that is used to hold tightly cable on two dollies; Said enclasp device comprises the guide rail that is parallel to each other that is separately positioned on the two dolly front and rears, and guide rail and cable axis are perpendicular; Slidably be provided with two rolling wheel supports on said each guide rail, be provided with spring between the car body of each rolling wheel support and dolly, spring is that enclasp device provides the pretension normal pressure; Said each rolling wheel support is provided with the roller that rotates around the axis; Said roller forms at 4 and supports clamping on cable; Have at least a roller to be provided with drive unit in the said roller.This programme applies hold power through four direction to cable through the mode of four groups of roller clip cables, can effectively prevent to climb in the cable process because the effect of wind-force can produce the problem that spiral is climbed cable, influenced the stability of climbing cable in the high-altitude.Simultaneously since the rolling wheel support of each roller can move and each roller provides the pretension normal pressure through spring along guide rail; When in climbing the cable process, running into local disturbance; Roller can move along guide rail through rolling wheel support and surmount obstacles, thereby forms adaptive obstacle detouring folder cable effect.
As preferably, between two guide rails, be provided with left-handed screw mandrel parallel and dextrorotation screw mandrel in the middle part of the car body of each dolly with guide rail; The two ends that left-handed screw mandrel is relative with the dextrorotation screw mandrel connect as one, and the other end of left-handed screw mandrel and dextrorotation screw mandrel is fixed on the car body middle part through bearing support; Be respectively equipped with a pressing plate on the feed screw nut on said left-handed screw mandrel and the dextrorotation screw mandrel, the two ends of pressing plate are positioned at two guide rails top and are respectively equipped with a through hole; The two ends of said pressing plate are passed through hole through a bolt respectively and are connected with rolling wheel support; Described spring housing is located on the bolt, and spring one end supports and pressing plate, and the other end supports and rolling wheel support.This programme constitutes an integral body through left-handed screw mandrel and dextrorotation screw mandrel and pressing plate with the roller on the same dolly, can realize that through rotary screw spacing between two block pressur plates increases or dwindles, and the latching characteristics through leading screw and nut mechanism; Realize the power of holding tightly reliably being provided to the cable that multiple diameter varies in size.
As preferably, be positioned at the shaft coupling both sides on said left-handed screw mandrel and the dextrorotation screw mandrel and be provided with gripper shoe, gripper shoe is through being bolted on the car body; Left-handed screw mandrel between said two gripper shoes or dextrorotation screw mandrel are provided with first gear coaxial with left-handed screw mandrel, said car body be provided with regulate motor and with second gear of first gears engaged; The rotor of said adjusting motor is connected with the axis of rotation of second gear.Can regulate the spacing between two block pressur plates easily through regulating motor.
As preferably, dolly is provided with controller; In having the roller of drive unit, be provided with the rotating detector at least one roller; Also have at least on the roller at all the other and to be provided with the rotating detector as the roller of driven pulley; Said each rotating detector is connected with controller, and said controller is connected with the adjusting motor.This scheme can effectively solve the situation that the dolly that occurs in the cable process skids, falls back of climbing.Detect the roller have drive unit and, promptly detect turning to of driving wheel and driven pulley through the rotating detector as the turning to of the roller of driven pulley; When detecting turning to of driving wheel and driven pulley, the rotating detector shows that to climb cable robot in proper working order when identical; When detecting driving wheel, changes by the rotating detector; And driven pulley is when stopping operating; Show that climbing cable robot skidding occurs; Controller can be controlled the motor rotary screw rod and dwindle the spacing between two block pressur plates this moment, increased the pretension normal pressure of spring, made every effort to overcome the clothes skidding thereby improve holding tightly of pair of rollers cable; When the rotating detector detects the switched in opposite of driving wheel and driven pulley; Show that climbing cable robot setback occurs; Controller can be controlled the motor rotary screw rod and dwindle the spacing between two block pressur plates this moment; Increase the pretension normal pressure of spring, make every effort to overcome clothes and knock down and move back phenomenon thereby improve holding tightly of pair of rollers cable.
As preferably; Drive unit comprises the installing plate of L font and is arranged on drive motors and the reduction box on the installing plate; Said installing plate is through being bolted on the rolling wheel support, and said reduction box is provided with first regulating wheel, and the rotating shaft of said roller is provided with second regulating wheel; Said first regulating wheel and second regulating wheel are flank of tooth regulating wheel, are connected through belt between first regulating wheel and second regulating wheel.
As preferably, two rolling wheel supports on the same guide rail are symmetrical set along center line of guide rail; The rectangular triangle of rolling wheel support, the plane at the right-angle side place of said rolling wheel support is provided with a slide block, and the slide block bottom surface is provided with T type groove, and said slide block slidably is located on the guide rail; Described roller is arranged on the plane at hypotenuse place of rolling wheel support.
As preferably, car body is the frame construction that is the U font, and the opening of two dolly car bodies is oppositely arranged; One side of two car bodies is connected through the hinge; The opposite side relative with hinge is provided with lock-connecting piece, and lock-connecting piece is made up of the public snap close that is separately positioned on two dolly opening parts and female snap close and latch; Said female snap close is provided with two draw-in grooves that are arranged side by side, and is provided with two convexities that are arranged side by side with respect to draw-in groove on the public snap close.Two dollies can open and close easily, are convenient to be installed on the cable climbing cable robot.
As preferably, each corner of vehicle body frame structure is provided with the right angle rack that is used for the connecting frame structure, and each corner of the front end face of vehicle body frame structure and rear end face is provided with A-frame.Be convenient to the making of vehicle body frame, reduce cost of manufacture, can effectively improve the intensity of vehicle body frame structure simultaneously.
As preferably, roller is cylindric and roller surface is provided with the annular lines coaxial with roller wheel shaft.Can effectively prevent to climb in the cable process because the effect of wind-force can produce the problem that spiral is climbed cable in the high-altitude.
The beneficial effect of the utility model is: 1, pull effective quiet climb but embrace.2, have good obstacle detouring effect.3, can effectively solve the situation that the dolly that occurs in the cable process skids, falls back of climbing.4, detect applicable to the cable that multiple diameter is varied in size.
Description of drawings
Fig. 1 is a kind of structural representation of the utility model.
Fig. 2 is a kind of elevation of climbing cable robot of the utility model.
Fig. 3 is a kind of structural representation at the enclasp device place of the utility model.
Fig. 4 is a kind of structural representation of the car body of the utility model.
Fig. 5 is a kind of structural representation at the rolling wheel support place of the utility model.
Fig. 6 is a kind of structural representation of the drive unit of the utility model.
Among the figure: dolly 1, cable 2, roller 3, rolling wheel support 4, pressing plate 5, spring 6, drive unit 7, left-handed screw mandrel 8, dextrorotation screw mandrel 9, shaft coupling 10, gripper shoe 11, first gear 12, second gear 13, bearing support 14, feed screw nut 15, installing plate 16, drive motors 17, reduction box 18, first regulating wheel 19, second regulating wheel 20, slide block 21, rotating shaft 22, hinge 23, lock-connecting piece 24, right angle rack 26, A-frame 27, car body 28.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the utility model is described in further detail:
As shown in Figure 1, a kind of cable robot of climbing comprises along symmetrically arranged two dollies 1 of cable 2 circumferencial directions and is arranged on the enclasp device that is used to hold tightly cable on two dollies.Dolly is provided with the checkout gear that is used to detect cable and as the lithium battery of power supply.
Like Fig. 2, Fig. 4, shown in Figure 5, enclasp device comprises the guide rail that is parallel to each other 25 that is separately positioned on two dollies, 1 front and rear.Guide rail on two dollies also is parallel to each other.Guide rail 25 is perpendicular with cable 2 axis.Slidably being provided with two rolling wheel supports, 4, two rolling wheel supports on said each guide rail is symmetrical set along center line of guide rail.Rolling wheel support 4 rectangular triangles, the plane at the right-angle side place of rolling wheel support 4 is provided with a slide block 21, and the slide block bottom surface is provided with T type groove; Slide block slidably is located on the guide rail.The plane at the hypotenuse place of each rolling wheel support 4 is provided with the roller 3 of 22 rotations around the shaft, and said rotating shaft 22 is obliquely installed and is perpendicular with cable axis.The rotating shaft 22 of two rollers 3 on the same guide rail along center line of guide rail be symmetrical set and the rotating shaft of two rollers between angle be 90 degree.Roller on two dollies also is symmetrical set.Roller 3 is cylindric and roller surface is provided with the annular lines coaxial with roller wheel shaft.Be provided with spring 6 along the guide rail direction between the car body of each rolling wheel support 4 and dolly, spring is that enclasp device provides the pretension normal pressure; Said roller forms at 4 and supports clamping on cable.
Like Fig. 3, shown in Figure 6, be positioned on two rollers 3 on the same guide rail 25 and be respectively equipped with drive unit 7.Drive unit comprises the installing plate 16 of L font and is arranged on the drive motors 17 and reduction box 18 on the installing plate.Installing plate 16 is through on the side that is bolted to rolling wheel support 4, and said reduction box is provided with first regulating wheel 19, and the rotating shaft of said roller 3 is provided with second regulating wheel 20; Said first regulating wheel and second regulating wheel are flank of tooth regulating wheel, are connected through belt between first regulating wheel and second regulating wheel.
Like Fig. 2, Fig. 3, shown in Figure 4, car body 28 middle parts of each dolly 1 are provided with left-handed screw mandrel parallel with guide rail 8 and dextrorotation screw mandrel 9 between two guide rails 25.The two ends that left-handed screw mandrel is relative with the dextrorotation screw mandrel connect as one through shaft coupling 10, and the other end of left-handed screw mandrel and dextrorotation screw mandrel is fixed on the car body middle part through bearing support 14.Be respectively equipped with a pressing plate 5 on the feed screw nut 15 on said left-handed screw mandrel 8 and the dextrorotation screw mandrel 9.Be connected through bolt between pressing plate and the feed screw nut.The two ends of pressing plate are positioned at two guide rails top and are respectively equipped with a through hole.The two ends of pressing plate 5 are passed through hole through a bolt respectively and are connected with rolling wheel support 4.Be set on the bolt along the spring that is provided with on the guide rail direction 6 between the car body of said rolling wheel support 4 and dolly, spring one end supports and pressing plate 5, and the other end supports and rolling wheel support 4.
As shown in Figure 3, be positioned at shaft coupling 10 both sides on left-handed screw mandrel 8 and the dextrorotation screw mandrel 9 and be provided with gripper shoe 11, gripper shoe is convex shape.Gripper shoe 11 is through being bolted on the car body 28, and the dextrorotation screw mandrel 9 between two gripper shoes 11 is provided with first gear 12 coaxial with left-handed screw mandrel.Said car body is provided with second gear 13 of regulating motor and meshing with first gear 12.The rotor of said adjusting motor is connected with the axis of rotation of second gear.Dolly is provided with controller; In having the roller of drive unit, be provided with the rotating detector at least one roller; Also have at least on the roller at all the other and to be provided with the rotating detector as the roller of driven pulley; Said each rotating detector is connected with controller, and said controller is connected with the adjusting motor.
Like Fig. 2, shown in Figure 4, car body 28 is for being the frame construction of U font.The opening of two dolly car bodies is oppositely arranged, and a side of two car bodies connects through hinge 23; The opposite side relative with hinge is provided with lock-connecting piece 24.Lock-connecting piece is made up of the public snap close that is separately positioned on two dolly opening parts and female snap close and latch; Said female snap close is provided with two draw-in grooves that are arranged side by side, and is provided with two convexities that are arranged side by side with respect to draw-in groove on the public snap close.Each corner of car body 28 frame constructions is provided with the right angle rack 26 that is used for the connecting frame structure, and the front end face of car body 28 frame constructions and each corner of rear end face are provided with A-frame 27.
The power supply of drive motors of climbing cable robot of the utility model and adjusting motor is through lithium battery power supply.The operator can control drive motors 17 energized and starts working through remote control, makes and climbs cable robot under the rotation of drive motors 17, upwards climbs and through checkout gear cable is detected along cable.Climb cable robot detect finish after, can reverse through remote control control drive motors 17, make and climb cable robot and move down along cable.Climb cable robot upwards climb along cable or move down in the process, the rotating detector can detect the rotation direction of roller in real time, promptly detects turning to of driving wheel and driven pulley.When detecting turning to of driving wheel and driven pulley, the rotating detector shows that to climb cable robot in proper working order when identical.When detecting driving wheel, changes by the rotating detector; And driven pulley is when stopping operating; Show that climbing cable robot skidding occurs; Controller can be controlled the motor rotary screw rod and dwindle the spacing between two block pressur plates this moment, increased the pretension normal pressure of spring, made every effort to overcome the clothes skidding thereby improve holding tightly of pair of rollers cable.When the rotating detector detects the switched in opposite of driving wheel and driven pulley; Show that climbing cable robot setback occurs; Controller can be controlled the motor rotary screw rod and dwindle the spacing between two block pressur plates this moment; Increase the pretension normal pressure of spring, make every effort to overcome clothes and knock down and move back phenomenon thereby improve holding tightly of pair of rollers cable.
Claims (9)
1. climb cable robot for one kind; Comprise along cable (2) symmetrically arranged two dollies of circumferencial direction (1) and be arranged on the enclasp device that is used to hold tightly cable on two dollies; It is characterized in that; Said enclasp device comprises the guide rail that is parallel to each other (25) that is separately positioned on the two dolly front and rears, and guide rail and cable axis are perpendicular; Slidably be provided with two rolling wheel supports (4) on said each guide rail, be provided with spring (6) between the car body of each rolling wheel support and dolly, spring is that enclasp device provides the pretension normal pressure; Said each rolling wheel support is provided with around the shaft the roller (3) that rotate (22); Said roller forms at 4 and supports clamping on cable; Have at least a roller to be provided with drive unit (7) in the said roller.
2. a kind of cable robot of climbing according to claim 1 is characterized in that, the car body of each dolly (28) middle part is positioned at and is provided with left-handed screw mandrel (8) parallel with guide rail and dextrorotation screw mandrel (9) between two guide rails (25); The two ends that left-handed screw mandrel is relative with the dextrorotation screw mandrel connect as one, and the other end of left-handed screw mandrel and dextrorotation screw mandrel is fixed on the car body middle part through bearing support (14); Be respectively equipped with a pressing plate (5) on the feed screw nut (15) on said left-handed screw mandrel and the dextrorotation screw mandrel, the two ends of pressing plate are positioned at two guide rails top and are respectively equipped with a through hole; The two ends of said pressing plate are passed through hole through a bolt respectively and are connected with rolling wheel support; Described spring (6) is set on the bolt, and spring one end supports and pressing plate, and the other end supports and rolling wheel support.
3. a kind of cable robot of climbing according to claim 2 is characterized in that, is positioned at the shaft coupling both sides on said left-handed screw mandrel and the dextrorotation screw mandrel and is provided with gripper shoe (11), and gripper shoe is through being bolted on the car body; Left-handed screw mandrel between said two gripper shoes or dextrorotation screw mandrel are provided with first gear (12) coaxial with left-handed screw mandrel, said car body be provided with regulate motor and with second gear (13) of first gears engaged; The rotor of said adjusting motor is connected with the axis of rotation of second gear.
4. a kind of cable robot of climbing according to claim 3 is characterized in that dolly is provided with controller; In having the roller of drive unit, be provided with the rotating detector at least one roller; Also have at least on the roller at all the other and to be provided with the rotating detector as the roller of driven pulley; Said each rotating detector is connected with controller, and said controller is connected with the adjusting motor.
5. a kind of cable robot of climbing according to claim 1; It is characterized in that; Said drive unit (7) comprises the installing plate (16) of L font and is arranged on drive motors and the reduction box on the installing plate; Said installing plate is through being bolted on the rolling wheel support, and said reduction box is provided with first regulating wheel (19), and the rotating shaft of said roller is provided with second regulating wheel (20); Said first regulating wheel and second regulating wheel are flank of tooth regulating wheel, are connected through belt between first regulating wheel and second regulating wheel.
6. according to claim 1 or 2 or 3 or 4 or 5 described a kind of cable robots of climbing, it is characterized in that two rolling wheel supports (4) on the same guide rail are symmetrical set along center line of guide rail; The rectangular triangle of rolling wheel support, the plane at the right-angle side place of said rolling wheel support is provided with a slide block (21), and the slide block bottom surface is provided with T type groove, and said slide block slidably is located on the guide rail; Described roller is arranged on the plane at hypotenuse place of rolling wheel support.
7. according to claim 1 or 2 or 3 or 4 or 5 described a kind of cable robots of climbing, it is characterized in that car body (28) is for being the frame construction of U font, the opening of two dolly car bodies is oppositely arranged; One side of two car bodies be connected through the hinge (23); The opposite side relative with hinge is provided with lock-connecting piece (24), and lock-connecting piece is made up of the public snap close that is separately positioned on two dolly opening parts and female snap close and latch; Said female snap close is provided with two draw-in grooves that are arranged side by side, and is provided with two convexities that are arranged side by side with respect to draw-in groove on the public snap close.
8. a kind of cable robot of climbing according to claim 7; It is characterized in that; Each corner of said vehicle body frame structure is provided with the right angle rack (26) that is used for the connecting frame structure, and each corner of the front end face of vehicle body frame structure and rear end face is provided with A-frame (27).
9. according to claim 1 or 2 or 3 or 4 or 5 described a kind of cable robots of climbing, it is characterized in that roller is cylindric and roller surface is provided with the annular lines coaxial with roller wheel shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220135217XU CN202543797U (en) | 2012-04-01 | 2012-04-01 | Cable climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220135217XU CN202543797U (en) | 2012-04-01 | 2012-04-01 | Cable climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN202543797U true CN202543797U (en) | 2012-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220135217XU Expired - Fee Related CN202543797U (en) | 2012-04-01 | 2012-04-01 | Cable climbing robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103194967A (en) * | 2013-04-03 | 2013-07-10 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Detecting system of bridge cable |
| CN103696364A (en) * | 2013-12-27 | 2014-04-02 | 中交第一公路勘察设计研究院有限公司 | Visible climbing detection equipment for hanger rods, stay cables and main cables of bridges |
| CN103895722A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Cable rope maintaining robot |
| CN103895723A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Multi-wheel elastic extrusion flexible climbing robot for cable maintenance |
| CN104074135A (en) * | 2014-04-16 | 2014-10-01 | 广州诚泰交通机电工程有限公司 | Bridge cable detecting device |
| CN104153301A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104652263A (en) * | 2015-02-10 | 2015-05-27 | 西南交通大学 | Cable climbing robot |
| CN104674654A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN104674655A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN104674653A (en) * | 2015-02-13 | 2015-06-03 | 东南大学 | Adjustable deviation prevention device based on cable detection robot |
| CN104863050A (en) * | 2015-04-30 | 2015-08-26 | 洛阳理工学院 | Cable-stayed bridge cable crawling robot |
| CN104894957A (en) * | 2014-03-03 | 2015-09-09 | 长沙大方精密机电有限公司 | Regulable climbing device with deviation prevention function for detecting defect of bridge guy cable |
| CN105329331A (en) * | 2015-10-29 | 2016-02-17 | 南京邮电大学 | Probe type obstacle detection device for high-altitude cable climbing robot |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN110952444A (en) * | 2019-11-21 | 2020-04-03 | 深圳市人工智能与机器人研究院 | Portable cable outer surface detection robot |
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| CN103895723B (en) * | 2012-12-26 | 2016-04-13 | 上海建冶科技工程股份有限公司 | Many wheels elasticity extrudes flexible climb cable maintaining robot |
| CN103895722A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Cable rope maintaining robot |
| CN103895723A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Multi-wheel elastic extrusion flexible climbing robot for cable maintenance |
| CN103194967A (en) * | 2013-04-03 | 2013-07-10 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Detecting system of bridge cable |
| CN103696364B (en) * | 2013-12-27 | 2015-08-19 | 中交第一公路勘察设计研究院有限公司 | The visual checkout equipment that climbs of bridge boom, suspension cable and main push-towing rope |
| CN103696364A (en) * | 2013-12-27 | 2014-04-02 | 中交第一公路勘察设计研究院有限公司 | Visible climbing detection equipment for hanger rods, stay cables and main cables of bridges |
| CN104894957A (en) * | 2014-03-03 | 2015-09-09 | 长沙大方精密机电有限公司 | Regulable climbing device with deviation prevention function for detecting defect of bridge guy cable |
| 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 |
| CN104153301A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104153301B (en) * | 2014-04-15 | 2015-11-25 | 宁波职业技术学院 | Cable-maintaining robot |
| CN104074135B (en) * | 2014-04-16 | 2016-08-24 | 广州诚泰交通机电工程有限公司 | A kind of bridge cables detection device |
| CN104074135A (en) * | 2014-04-16 | 2014-10-01 | 广州诚泰交通机电工程有限公司 | Bridge cable detecting device |
| CN104652263B (en) * | 2015-02-10 | 2016-08-17 | 西南交通大学 | One climbs cable robot |
| CN104652263A (en) * | 2015-02-10 | 2015-05-27 | 西南交通大学 | Cable climbing robot |
| CN104674653A (en) * | 2015-02-13 | 2015-06-03 | 东南大学 | Adjustable deviation prevention device based on cable detection robot |
| CN104674655A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN104674654A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN104863050A (en) * | 2015-04-30 | 2015-08-26 | 洛阳理工学院 | Cable-stayed bridge cable crawling robot |
| CN104863050B (en) * | 2015-04-30 | 2017-03-01 | 洛阳理工学院 | A kind of cable-stayed bridge cable climbing robot |
| CN105329331A (en) * | 2015-10-29 | 2016-02-17 | 南京邮电大学 | Probe type obstacle detection device for high-altitude cable climbing robot |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN110952444A (en) * | 2019-11-21 | 2020-04-03 | 深圳市人工智能与机器人研究院 | Portable cable outer surface detection robot |
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