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CN-224227644-U - Cable climbing robot

CN224227644UCN 224227644 UCN224227644 UCN 224227644UCN-224227644-U

Abstract

The utility model relates to a rope climbing robot which is used for detecting PE sheath damage on the surfaces of a main cable, a sling and a cable-stayed bridge of a suspension bridge, and comprises a two-half frame, a driving device, a crawling device, a holding device, an anti-deflection device and a camera component; the driving device is connected with the two-half type rack through bolts, the crawling device is connected with the driving device through bolts, the enclasping device is connected with the two-half type rack through bolts, the anti-deflection device is connected with the two-half type rack through bolts, and the camera component is connected with the two-half type rack through bolts; the utility model has simple structure, convenient disassembly and assembly and reliable operation, can be suitable for cables with different diameters, dynamically adjusts the holding force, solves the problems of unstable clamping, slipping or overhigh energy consumption when the existing climbing robot faces cables with different diameters, loads and environmental conditions, and improves the stability and safety of the climbing robot.

Inventors

  • Peng Jiarun
  • YIN HONG
  • PENG ZHENRUI

Assignees

  • 兰州交通大学

Dates

Publication Date
20260512
Application Date
20250328

Claims (6)

  1. 1. A climbing robot is characterized by comprising a two-half type frame (1), a driving device (2), a crawling device (3), a clasping device (4), an anti-deflection device (5), a camera assembly (6), a cable (7), the driving device (2) is connected with the two-half type frame (1), the crawling device (3) is connected with the driving device (2), the clasping device (4) is connected with the two-half type frame (1), the clasping device (4) comprises a linear module (19), a supporting seat (20), a linear module mounting bottom plate (21), a rod piece (22), a supporting shaft (23), a V-shaped wheel (15) and a supporting column (24), the linear module (19) comprises a clamping motor (25), a coupler (26), a screw rod (27), a screw nut (28), a guide rail (29), the linear module (19) is connected with the mounting bottom plate (21) through bolts, the rod piece (22) comprises a rod piece I (30) and a rod piece II (31), the rod piece I (30) is connected with the screw nut (28) through the screw nut (31), the V-shaped wheel (15) is connected with the support column (24) through bolts, the anti-deflection device (5) is connected with the two-half type stand (1), and the camera component (6) is connected with the two-half type stand (1).
  2. 2. The rope climbing robot according to claim 1, wherein the two-half frame comprises an aluminum profile (8).
  3. 3. The rope climbing robot according to claim 1, wherein the driving device (2) comprises a driving motor (9), a speed reducer (10), a synchronous belt (11), a synchronous pulley (12), a driving motor seat (13) and a mounting plate (14), the driving motor (9) is connected with the driving motor seat (13), the driving motor seat (13) is connected with the mounting plate (14) through bolts, the mounting plate (14) is connected with the two-half frame (1) through bolts, and the driving motor (9) drives the crawling device (3) to move through the synchronous belt (11).
  4. 4. The rope climbing robot according to claim 1, wherein the crawling device (3) comprises a V-shaped wheel (15), a wheel seat (16), a spring seat (17) and a spring (18), the wheel seat (16) and the spring seat (17) are connected through bolts, the spring seat (17) and the mounting plate (14) are connected through bolts, and the spring (18) is sleeved between the two spring seats (17).
  5. 5. The rope climbing robot according to claim 1, wherein the deviation preventing device (5) comprises a deviation preventing wheel set (32) and a deviation preventing rod (33), the deviation preventing wheel set (32) and the deviation preventing rod (33) are connected through bolts, and the deviation preventing rod (33) and the two half frames (1) are connected through bolts.
  6. 6. The rope climbing robot according to claim 1, wherein the camera assembly (6) comprises a camera (34), a camera support (35) and a camera mounting base (36), the camera (34) is connected with the camera support (35), the camera support (35) is connected with the camera mounting base (36), and the camera mounting base (36) is connected with the two-half frame (1) through bolts.

Description

Cable climbing robot Technical Field The utility model relates to a rope climbing robot, in particular to a rope climbing robot with adjustable holding force, and belongs to the technical field of robots. Background Along with the extension of the service time of the bridge, the method is particularly important for the periodic detection and maintenance of structures such as a main cable, a sling and a cable-stayed bridge cable of the suspension bridge, and the traditional detection method mainly depends on manual inspection or fixed detection equipment, and has the problems of low efficiency, high cost, high danger and the like, and particularly, the manual operation is time-consuming and labor-consuming in high altitude or complex environments, and has great potential safety hazards. In recent years, a cable climbing robot is increasingly used as an automatic detection tool for detecting and maintaining bridge cables. The existing climbing robot mostly adopts a fixed holding force design, is difficult to adapt to cables with different diameters, loads and environmental conditions, and has the problems of unstable clamping, slipping or excessively high energy consumption. Particularly, when facing complex working conditions (such as cable surface wetness, icing or load change), the robot for fixing the holding force often does not perform well, and the detection efficiency and reliability of the robot are limited. Therefore, a rope climbing robot with adjustable enclasping force is needed, and the enclasping force can be dynamically adjusted to adapt to diversified detection requirements, so that the stability and the safety of detection work are improved. Disclosure of utility model Aiming at the problems in the background technology, the utility model aims to design the cable climbing robot for cable sheath damage detection, which has the advantages of simple structure, convenient disassembly and assembly, reliable operation and adjustable holding force. In order to achieve the technical purpose, the utility model is realized by adopting the following technical scheme. The rope climbing robot is characterized by comprising a two-half type frame, a driving device, a crawling device, a enclasping device, an anti-deflection device and a camera component. The two-half type frame is formed by connecting aluminum profiles, the driving device is connected with the two-half type frame, the crawling device is connected with the driving device, the holding device is connected with the two-half type frame, the deflection preventing device is connected with the two-half type frame, and the camera component is connected with the two-half type frame. Preferably, the two-half frame comprises an aluminum profile. Preferably, the driving device comprises a driving motor, a speed reducer, a synchronous belt wheel, a driving motor seat and a mounting plate, wherein the driving motor is connected with the driving motor seat, the driving motor seat is connected with the mounting plate through bolts, and the driving motor drives the crawling device to move through the synchronous belt. Preferably, the crawling device comprises a V-shaped wheel, a wheel seat, a spring seat and a spring, wherein the wheel seat is connected with the spring seat through a bolt, the spring seat is connected with the mounting plate through a bolt, and the spring is sleeved between the two spring seats. The clamping device comprises a linear module, a supporting seat, a linear module mounting bottom plate, a rod piece, a supporting shaft, a V-shaped wheel and a supporting column, wherein the linear module comprises a clamping motor, a coupler, a screw rod, a screw nut and a guide rail, the linear module is connected with the mounting bottom plate and fixed through a bolt, the rod piece comprises a rod piece I and a rod piece II, the rod piece I is rotationally connected with the screw nut, the rod piece II is rotationally connected with the supporting shaft, and the V-shaped wheel is connected with the supporting column through a bolt. The anti-deflection device comprises an anti-deflection wheel set and an anti-deflection rod, wherein the anti-deflection wheel set is connected with the anti-deflection rod through a bolt, the anti-deflection rod is provided with a connecting hole, and the anti-deflection rod can select a proper connecting hole according to the diameter of a cable to be connected with the two half frames through a bolt. Preferably, the camera assembly comprises a camera, a camera support and a camera mounting seat, wherein the camera is connected with the camera support, the camera support is connected with the camera mounting seat, and the camera mounting seat is connected with the two-half type stand through bolts. The beneficial effects of the utility model are as follows: 1. the utility model adopts the two-half type frame which is formed by connecting aluminum profiles through corner fittings, has light weight and high strength,