CN113511280B - Steel wire rope climbing robot - Google Patents
Steel wire rope climbing robot Download PDFInfo
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- CN113511280B CN113511280B CN202110758438.6A CN202110758438A CN113511280B CN 113511280 B CN113511280 B CN 113511280B CN 202110758438 A CN202110758438 A CN 202110758438A CN 113511280 B CN113511280 B CN 113511280B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention relates to a steel wire rope climbing robot which comprises two transverse clamping parts, wherein two pairs of clamping mechanisms with clamping wheels are arranged between the two clamping parts, transverse positive and negative screw rods with opposite threads at the same positions are respectively and rotatably installed on the two clamping parts, each clamping mechanism is respectively and fixedly connected with screw nuts on the two positive and negative screw rods, each clamping wheel faces to a path through which a steel wire rope passes and encloses a clamping gap through which the steel wire rope passes, a longitudinal connecting rod is rotatably installed between the two clamping parts, both ends of the connecting rod are respectively provided with a first bevel gear, the end parts, facing to the connecting rod, of the two positive and negative screw rods are respectively provided with a second bevel gear meshed with the first bevel gear, the first bevel gear is connected with a power input shaft through a meshing input bevel gear, and at least two clamping mechanisms are provided with driving devices connected with the corresponding clamping wheels. The operation is simple and quick, the fixation is completed only by rotating the input shaft, the preparation working time is short, and the working efficiency is high.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a steel wire rope climbing robot.
Background
Generally, the mine environment is severe, the steel wire rope in the mine can be damaged in different degrees in the using process, the problems of production and worker safety are directly related, and the steel wire rope in use needs to be regularly checked and maintained. Therefore, the steel wire rope climbing robot is vital in mine safety construction, the conventional steel wire rope inspection is performed manually after equipment is shut down, the inspection efficiency of the damage of the steel wire rope is low, the working environment of inspectors is severe, the steel wire rope flaw detection robot is adopted to replace manual inspection, the flaw detection efficiency of the steel wire rope can be effectively improved, and the working environment of the inspectors is improved.
The Chinese patent with publication number of CN109969279A and publication number of 2019.07.05 discloses a steel wire rope twisting climbing robot, wherein a tensioning structure consisting of a tensioning support, a roller and a spring is utilized, so that the roller presses a steel wire rope under the action of the spring, the climbing robot can move on the steel wire rope in a clinging manner, and slight damage to the surface of the steel wire rope and the position of the damaged steel wire rope are monitored. The tensioning structure is a clamping mechanism, the tensioning bracket is also a clamping bracket, and the roller is also a clamping wheel.
However, in the installation stage of the climbing robot in the invention before use, all the limiting locknuts on the robot need to be loosened to enable the clamping wheels to press the steel wire rope under the action of the spring, and then the limiting locknuts of the clamping mechanism need to be screwed, so that the whole process is complicated in operation, the clamping mechanisms in multiple directions need to be adjusted, the preparation work is long, and the efficiency is low.
Disclosure of Invention
The invention aims to provide a steel wire rope climbing robot, which is used for solving the technical problem that clamping mechanisms in multiple directions need to be adjusted when a climbing robot is installed.
In order to achieve the purpose, the invention adopts the following technical scheme: the steel wire rope climbing robot comprises two transverse clamping parts, two pairs of clamping mechanisms rotatably provided with clamping wheels are arranged between the two clamping parts, transverse positive and negative screw rods with opposite threads at the same positions are respectively rotatably arranged on the two clamping parts, each clamping mechanism is respectively and fixedly connected with screw nuts on the two positive and negative screw rods, each clamping part is provided with a dodging groove with the length along the axial direction of the positive and negative screw rods, each clamping mechanism and the corresponding screw nut are positioned in the dodging groove, each clamping wheel faces to a path through which a steel wire rope passes and encloses a clamping gap through which the steel wire rope passes, a longitudinal connecting rod is rotatably arranged between the two clamping parts and is fixedly provided with a longitudinal fixing part, two ends of the connecting rod are respectively provided with a first bevel gear, the end parts of the two positive and negative screw rods facing to the connecting rod are respectively provided with a second bevel gear meshed with the first bevel gear, one first bevel gear is connected with a power input shaft through a meshed input bevel gear, and at least two clamping mechanisms are provided with driving devices connected with the corresponding clamping wheels.
In the installation stage, let wire rope pass the centre gripping clearance, make the centre gripping wheel aim at suitable position on the wire rope, rotate the power input shaft, each fixture is close to and finally presses close to the wire rope surface to wire rope, afterwards, the centre gripping wheel moves along wire rope under drive arrangement drives, easy operation is swift, only need to rotate the input shaft and accomplish fixed climbing robot, the preparation operating time is short, climbing robot's work efficiency is high, in addition, utilize positive and negative tooth lead screw, the position of fixture is adjusted to structures such as bevel gear, can press from both sides tight wire rope and prevent to become flexible because of the screw thread auto-lock, stable in structure, can press from both sides tightly to the middle part rapidly, do benefit to the balance of maintaining the robot, and the size in adjustable centre gripping clearance, can be applicable to the wire rope of different diameters.
Further, the connecting rod is the telescopic link, be connected with spacing and the spacing groove of length along the pole axis direction between the interior pole of connecting rod and the outer pole, spacing is in the spacing groove, be equipped with the regulation screw thread on the outer pole lateral surface, the cover has adjusting nut on the regulation screw thread, the fixed part includes the first guide block of being connected with a clamping part and the second guide block of being connected with another clamping part, be equipped with length on the second guide block along fore-and-aft guide way, first guide block is arranged in the guide way, adjusting nut passes through the connecting seat with first guide block and is connected, the connecting seat is arranged in the guide way.
When two clamping parts are close to, two screw nuts on the same positive and negative tooth lead screw are close to the middle part, make each fixture transversely and vertically go up to wire rope and be close to, the centre gripping wheel laminates on wire rope tighter, the security is higher, in addition, the fixed part ensures that two clamping parts do not take place relative movement when rotating the connecting rod, improve the stability of whole structure, and simultaneously, some clamping mechanisms do not have drive arrangement on, its centre gripping wheel participates in centre gripping and removal as from the driving wheel, reduce the dead weight of climbing robot, the security is higher, and save the cost expenditure.
Furthermore, the thread pitch of the adjusting thread is twice as large as that of the thread on the screw rod with positive and negative teeth. The transverse movement total amount of the screw nut on the same positive and negative screw is the same as the longitudinal movement amount of the adjusting nut within the same time, so that the transverse contraction speed of the clamping mechanism is the same as the longitudinal contraction speed of the clamping mechanism, the clamping mechanism in four directions can be controlled to be close to the middle part only by rotating one rotating shaft, the operation is simple and convenient, and the installation efficiency is high.
Furthermore, the positions of the clamping mechanisms form four vertexes of the same square. Because the speed of horizontal contraction is the same with the speed of vertical contraction, and the distance that four summits of same square reachd the central point and put is unanimous, ensures that each centre gripping wheel can follow four directions and hug closely wire rope simultaneously, and the centre gripping is more stable, provides higher security for climbing robot.
Furthermore, a clamping mechanism far away from the connecting rod is connected with a longitudinal rack, and a clamping mechanism far away from the connecting rod is provided with a backstop buckle, and the rack is inserted into the backstop buckle. In the process that the clamping mechanism contracts towards the middle part to clamp, the teeth on the stopping buckle move along the inclined plane of the teeth on the rack, when the trend of loosening the steel wire rope is met, the teeth of the stopping buckle are attached to the vertical surface of the teeth on the rack and block the rack from moving, the purpose of tensioning the two clamping parts is achieved, and the clamping wheel is prevented from loosening the steel wire rope.
Furthermore, a contraction spring is connected between the two clamping mechanisms close to the connecting rod, and the original length of the contraction spring is equal to the minimum distance between the two clamping mechanisms close to the connecting rod. Rigidity and intensity of increase climbing robot, when the distance increases between two fixture simultaneously, the shrink spring is tensile, provides fore-and-aft pulling force, prevents to press from both sides tight wire rope's centre gripping wheel not hard up.
Furthermore, any clamping mechanism is provided with two clamping wheels which are arranged along the direction of the path through which the steel wire rope passes. The contact surface of the steel wire rope is larger, and the clamping is more stable.
Further, any clamping part comprises a first shell and a second shell detachably connected with the first shell. The convenient to detach installation makes things convenient for follow-up maintenance to positive and negative tooth lead screw to the casing is outside level and smooth, easily carries on check out test set.
Furthermore, the power input shaft is connected with a hand wheel. Simple structure, simple operation, low in manufacturing cost.
Drawings
FIG. 1 is a schematic structural diagram of a wire rope climbing robot;
FIG. 2 is a top view and an internal structure view of the wire rope climbing robot;
FIG. 3 is a top view of the first housing, the second housing, and the fixing portion;
FIG. 4 is a right side view of the first housing, the second housing, and the fixing portion;
FIG. 5 is a schematic view of the clamping mechanism;
FIG. 6 is a schematic view of the structure of the clamping wheel;
fig. 7 is a schematic structural view of the loosening prevention mechanism.
In the figure: 1-a first shell, 2-a second shell, 3-a clamping mechanism, 301-a clamping frame, 302-a buffer spring, 303-a spring support, 304-a motor frame, 305-a driving motor, 31-a clamping wheel, 311-an upper clamping wheel, 312-a lower clamping wheel, 4-a connecting rod, 401-an inner rod, 402-an outer rod, 403-a limiting strip, 404-an adjusting thread, 405-an adjusting nut, 5-a fixed part, 501-a first guide block, 502-a second guide block, 503-a guide groove, 504-a connecting seat, 6-a positive and negative lead screw, 601-a positive and negative lead screw, 602-a lead screw nut, 7-a locking structure, 701-a rack, 702-a backstop buckle, 703-a buckle mounting groove, 8-a tightening structure, 801-a retraction spring, 802-a hole type retraction spring support, 803-a shaft type retraction spring support, 9-a first bevel gear, 10-a second bevel gear, 11-an input bevel gear, 12-a hand wheel, 13-a connecting plate, 14-a retraction groove, 15-a power input shaft, and 16-a connection seat.
Detailed Description
As shown in fig. 1-7, the wire rope climbing robot of the present invention comprises two transverse clamping portions and a longitudinal fixing portion 5, each clamping portion is in a strip shape, each clamping portion comprises a first housing 1 and a second housing 2 detachably mounted on the first housing 1, the first housing 1 is above the second housing 2, the fixing portion 5 is fixedly mounted between the two second housings 2, so as to facilitate detachment and installation, facilitate subsequent overhaul and maintenance of the internal positive and negative threaded screws 6, and the housing is flat on the outside and easy to carry detection equipment, two pairs of clamping mechanisms 3 are arranged between the two clamping portions, and each clamping mechanism 3 is rotatably mounted with a clamping wheel 31 for clinging to a wire rope and rolling on the surface of the wire rope.
The two clamping parts are respectively rotatably provided with transverse positive and negative threaded screws 6 with opposite threads at the same positions, the axes of the positive and negative threaded screws 6 are superposed with the axes of the clamping parts, opposite threads are arranged on the left and right sections of the same positive and negative threaded screw 601, opposite threads are arranged at the same positions of the two positive and negative threaded screws 601, each section of the threads is only provided with a lead screw nut 602 matched with the threads, and the four clamping mechanisms 3 are respectively and fixedly connected to the four lead screw nuts 602.
Any fixture 3 is including columniform clamping frame 301, the afterbody cover of clamping frame 301 is equipped with buffer spring 302, buffer spring 302's head and clamping frame 301's middle part butt, buffer spring 302's rear connection has spring bracket 303, clamping frame 301's head rotates installs the centre gripping wheel 31 of two rubber materials, centre gripping wheel 31 has certain radian with the wire rope contact surface, and two centre gripping wheels 31 arrange along the path direction that wire rope passed through, each spring bracket 303 bottom is connected with connecting plate 13, spring bracket 303 is located connecting plate 13 middle part, the both sides portion of connecting plate 13 is buckled towards fixture 3's head, a lateral part and the lead screw nut 602 fixed connection of connecting plate 13.
The clamping wheel 31 on the upper portion of the same clamping mechanism 3 is an upper clamping wheel 311, the clamping wheel 31 on the lower portion is a lower clamping wheel 312, the contact surface of the steel wire rope is larger, the clamping is more stable, the friction force between the clamping wheel 31 made of rubber and the steel wire rope is large, the clamping wheel 31 is prevented from sliding on the surface of the steel wire rope, a motor frame 304 is arranged on the clamping mechanism 3 connected to one clamping portion, a driving motor 305 is arranged on the motor frame 304, the driving motor 305 is connected with the lower clamping wheel 312, the clamping wheel 312 on the clamping mechanism 3 forms a driving wheel set, the clamping wheel on the clamping mechanism 3 connected to the other clamping portion forms a driven wheel set, the driven wheel set and the driving wheel set clamp the steel wire rope, the clamping mechanism of the driving motor 305 is not arranged, the clamping wheel 31 of the clamping mechanism participates in clamping and moving as a driven wheel, the dead weight of the climbing robot is reduced, the safety is higher, and the cost is saved.
Each clamping part is provided with an evasion groove 14 with the length along the axial direction of the positive and negative tooth lead screw 6, each clamping mechanism 3 and the corresponding lead screw nut 602 are positioned in the evasion groove 14, the clamping mechanisms 3 and the lead screw nuts 602 are ensured to move along the positive and negative tooth lead screws 6 in the evasion grooves 14, the purpose of adjusting the clamping mechanisms 3 to tighten towards the middle part to clamp a steel wire rope is realized, a longitudinal connecting rod 4 is rotatably arranged between the two clamping parts, a fixing part 5 is positioned between the connecting rod 4 and the clamping mechanisms 3, two ends of the connecting rod 4 are respectively provided with a first bevel gear 9, the end parts of the two positive and negative tooth lead screws 6 facing the connecting rod 4 are respectively provided with a second bevel gear 10 meshed with the first bevel gear 9, one first bevel gear 9 is meshed with an input bevel gear 11, the input bevel gear 11 is connected with a power input shaft 15, and the power input shaft 15 is provided with a hand wheel 12.
The connecting rod 4 is a telescopic rod, a limiting strip 403 and a limiting groove are connected between an inner rod 401 and an outer rod 402 of the connecting rod 4, the length of the limiting strip 403 and the limiting groove is along the rod axis direction, the limiting strip 403 is connected with the inner rod 401, the limiting groove is arranged in the outer rod 402, the limiting strip 403 is arranged in the limiting groove, an adjusting thread 404 is arranged on the outer side surface of the outer rod 402, an adjusting nut 405 is sleeved on the adjusting thread 404, a fixing part 5 comprises a first guide block 501 connected with one clamping part and a second guide block 502 connected with the other clamping part, a guide groove 503 with the length along the longitudinal direction is arranged on the second guide block 502, the guide groove 503 is formed by sinking towards the inner surface of the connecting rod 4 towards the second guide block 502, the first guide block 501 is arranged in the guide groove 503, the adjusting nut 405 is connected with the first guide block 501 through a connecting seat 16, the connecting seat 16 is also arranged in the guide groove 503, the outer rod 402 of the connecting rod 4 rotates, the limiting groove 403 enables the inner rod 401 and the outer rod 402 not to rotate relatively, meanwhile, the inner rod 401 and the outer rod 402 can stretch along the length direction, the second guide block 502 and the outer rod 402 does not move relatively, the second guide block 402 does not move relatively, the wire rope clamp, and the two guide blocks can be loosened relatively, and the wire rope 502 is clamped on the wire rope 502, and the wire rope 502 or the wire rope 502 is separated from the wire rope 502.
Each centre gripping wheel 31 is towards the route that wire rope passed through and encloses the centre gripping clearance that becomes to supply wire rope to pass through, when two clamping parts were close to the centre, two screw nut 602 on same positive and negative tooth lead screw 6 were close to the middle part simultaneously for each fixture 3 transversely with vertically go to wire rope and be close to, clamping wheel 31 laminating is tighter on wire rope, the security is higher, in addition, fixed part 5 ensures that two clamping parts do not take place relative movement when rotating connecting rod 4, improve the stability of whole structure.
And, the position of every fixture 3 forms four vertexes of the same square, the pitch of the adjusting thread 404 is twice of the pitch of the threads on the positive and negative lead screw 6, the clamping wheels 31 on the four fixtures 3 all point to the center of the square, so that in the same time, the total amount of the transverse movement of the lead screw nut 602 on the same positive and negative lead screw 6 is the same as the longitudinal movement amount of the adjusting nut 405, so that the transverse contraction speed and the longitudinal contraction speed of the fixtures 3 are the same, the fixtures 3 in four directions can be controlled to be close to the middle or be far away from the center only by rotating one rotating shaft, the operation is simple and convenient, the installation efficiency is high, the steel wire rope can be effectively clamped through thread self-locking and is anti-loose to a certain extent, and the four fixtures 3 are always kept on the four vertexes of the same square.
Because the transverse contraction speed is the same as the longitudinal contraction speed, and the distances from the four vertexes of the same square to the central position are consistent, the clamping wheels 31 can be ensured to cling to the steel wire rope from four directions at the same time, the clamping is more stable, and higher safety is provided for the climbing robot.
Be connected with anti loosening structure 7 between two fixture 3 of keeping away from connecting rod 4, anti loosening structure 7 is including rack 701 and stopping buckle 702, rack 701 is flexible, one of them fixture 3's connecting plate 13 is connected with rack 701, the one end of rack 701 is rotated and is installed on the lateral part of this connecting plate 13 not being connected with screw nut 602, stopping buckle 702 is located another fixture 3's connecting plate 13, the lateral part of its connecting plate 13 not being connected with screw nut 602 is equipped with buckle mounting groove 703, stopping buckle 702 is installed in buckle mounting groove 703, stopping buckle 702 is located buckle fixed slot 703 bottom at the during operation, rack 701 is inserted in stopping buckle 702. In the process that the clamping mechanism 3 contracts towards the middle part to clamp, the teeth on the retaining buckle 702 move along the inclined planes of the teeth on the rack 701, when the clamping mechanism 3 tends to loosen the steel wire rope, the teeth of the retaining buckle 702 are attached to the vertical surfaces of the teeth on the rack 701 and block the rack 701 from moving, the purpose of tensioning the clamping parts is achieved, the two clamping parts are prevented from being far away from each other in the longitudinal direction in the clamping process, and the clamping wheel 31 is prevented from loosening the steel wire rope.
A tightening structure 8 is connected between the two clamping mechanisms 3 close to the connecting rod 4, the tightening structure 8 comprises a contracting spring 801, a hole-type contracting spring support 802 and a shaft-type contracting spring support 803, the connecting plate 13 of the two clamping mechanisms 3 is respectively connected with the hole-type contracting spring support 802 and the shaft-type contracting spring support 803, concretely, the side part of the connecting plate 13 which is not connected with the lead screw nut 602 is connected with the contracting spring support, two ends of the contracting spring 801 are respectively connected with the hole-type contracting spring support 802 and the shaft-type contracting spring support 803, the hole-type contracting spring support 802 and the shaft-type contracting spring support 803 are matched through a shaft hole, translation movement is carried out along with the change of the longitudinal distance between the two clamping parts, the original length of the contracting spring 801 is equal to the minimum distance between the two clamping mechanisms 3 close to the connecting rod 4, the rigidity and the strength of the climbing robot are increased, and simultaneously, when the distance between the two clamping mechanisms 3 is increased, the contracting spring 801 is stretched to provide longitudinal tension force, so as to prevent the clamping wheel 31 clamping the steel wire rope from loosening.
In the work preparation phase: the retaining buckle 702 is pulled up along the buckle mounting groove 703 in an oblique direction, the teeth of the retaining buckle 702 are separated from the teeth of the rack 701, the rack 701 hangs down, the hand wheel 12 is rotated to enable the lead screw nut 602 to drive the clamping mechanism 3 to move away from the middle part transversely, meanwhile, the first guide block 501 extends out of the second guide block 502, the two clamping portions drive the clamping mechanism 3 to move longitudinally away from the center, after the suitable position is adjusted, the steel wire rope enters the clamping gap, the clamping wheel 31 is aligned to the suitable position on the steel wire rope, the rack 701 is rotated to the retaining buckle 702, the retaining buckle 702 is pushed to the bottom of the retaining buckle mounting groove 703 to fix the rack 701, meanwhile, the hand wheel 12 is rotated to drive the power input shaft 15 to rotate, the lead screw nut 602 drives the clamping mechanism 3 to move transversely and close to the middle part, meanwhile, the first guide block 501 retracts into the second guide block 502, the two clamping portions drive the clamping mechanisms 3 to move longitudinally and concentrate to the middle part, and each clamping mechanism 3 is close to the steel wire rope and finally close to the surface of the steel wire rope.
Meanwhile, the teeth on the rack 701 move to corresponding positions, the teeth on the retaining buckle 702 clamp the teeth on the rack 701, the operation is simple and rapid, the input shaft 15 only needs to be rotated to complete the fixation of the climbing robot, the preparation working time is short, the working efficiency of the climbing robot is high, in addition, the positions of the clamping mechanisms 3 are adjusted by utilizing structures such as the positive and negative tooth lead screws 6 and the bevel gears, the steel wire ropes can be clamped and prevented from loosening due to thread self-locking, the structure is stable, the clamping can be rapidly performed towards the middle part, the balance of the robot can be maintained, the size of a clamping gap can be adjusted, and the clamping device can be suitable for the steel wire ropes with different diameters.
In the climbing stage: after the climbing robot clamps the steel wire rope, the two driving motors 305 drive the lower clamping wheels 312 in the driving wheel set to rotate, the driven wheel set rotates along with the robot, so that the robot climbs on the steel wire rope, the inspection operation of the steel wire rope is completed, and in the climbing process, the buffer springs 302 can properly change the compression length according to the small change of the diameter of the steel wire rope and can absorb the impact and vibration of the motion process.
In the recovery stage: after the climbing detection is completed, the retaining buckle 702 is pulled up obliquely along the buckle fixing groove 703, the rack 701 is drooping, the hand wheel 12 is rotated to enable the lead screw nut 602 to drive the clamping mechanism 3 to move away from the middle part transversely, meanwhile, the first guide block 501 stretches out the second guide block 502, the two clamping parts drive the clamping mechanism 3 to move away from the center longitudinally, and after the position is adjusted to be proper, the steel wire rope is enabled to leave the clamping gap, the reverse rotation hand wheel 12 enables the distance between the four clamping mechanisms 3 of the robot to be minimum, the rack 701 is rotated to the retaining buckle 702, the retaining buckle 702 is pushed to the bottom of the retaining buckle mounting groove 703, the retaining buckle is placed into a storage box, the robot is well preserved, and the retaining buckle is used for next operation.
In other embodiments, on the basis of the above embodiments, the limiting strip can be located in the outer rod, the corresponding limiting groove is located on the inner rod, and meanwhile, the fixing part can be integrated, so that the two clamping parts do not move longitudinally relative to each other, and only the clamping mechanism moves transversely. In addition, can not install anti-loosening structure or tightening structure, alleviate climbing robot's dead weight, better bears check out test set. Meanwhile, the clamping part can be an integrated shell, so that the first shell and the second shell are prevented from being separated in the using process. Finally, the power input shaft can be connected with the output shaft of the motor through the coupler, the effect of quickly rotating the power input shaft is achieved, the four clamping mechanisms can be provided with driving motors, and certainly, one clamping wheel on any clamping mechanism can be connected with the driving motors.
The above description is only about the preferred embodiment of the present invention, but it should not be understood as limiting the claims, and the present invention may be modified in other structures, not limited to the above structures. In general, all changes which come within the scope of the invention are intended to be embraced therein.
Claims (6)
1. Wire rope climbing robot, its characterized in that: the clamping mechanism is fixedly connected with lead screw nuts on the two positive and negative lead screws respectively, each clamping mechanism is provided with an avoidance groove with the length along the axial direction of the positive and negative lead screws, each clamping mechanism and the corresponding lead screw nut are positioned in the avoidance groove, each clamping wheel faces to a path through which a steel wire rope passes and encloses a clamping gap through which the steel wire rope passes, a longitudinal connecting rod is rotatably arranged between the two clamping portions and is fixedly provided with a longitudinal fixing part, two ends of the connecting rod are respectively provided with a first bevel gear, the end parts of the two positive and negative lead screws facing to the connecting rod are respectively provided with a second bevel gear meshed with the first bevel gear, one first bevel gear is connected with a power input shaft through a meshing input bevel gear, and at least two clamping mechanisms are provided with driving devices connected with the corresponding clamping wheels; and
the two clamping parts and the two pairs of clamping mechanisms enclose a closed clamping gap for clamping the steel wire rope;
a buffer spring is arranged between the clamping wheel and the clamping part;
the connecting rod is a telescopic rod, a limiting strip and a limiting groove with the length along the rod axis direction are connected between an inner rod and an outer rod of the connecting rod, the limiting strip is arranged in the limiting groove, an adjusting thread is arranged on the outer side surface of the outer rod, an adjusting nut is sleeved on the adjusting thread, the fixing part comprises a first guide block connected with one clamping part and a second guide block connected with the other clamping part, a guide groove with the length along the longitudinal direction is arranged on the second guide block, the first guide block is positioned in the guide groove, the adjusting nut is connected with the first guide block through a connecting seat, and the connecting seat is positioned in the guide groove; a longitudinal rack is connected to the clamping mechanism far away from the connecting rod, a backstop buckle is arranged on the clamping mechanism far away from the connecting rod, the rack is inserted into the backstop buckle, and the rack is flexible;
and a contraction spring is connected between the two clamping mechanisms close to the connecting rod, and the original length of the contraction spring is equal to the minimum distance between the two clamping mechanisms close to the connecting rod.
2. The wire rope climbing robot of claim 1, wherein: the thread pitch of the adjusting thread is twice of that of the thread on the screw rod with positive and negative teeth.
3. The wire rope climbing robot of claim 2, wherein: the positions of the clamping mechanisms form four vertexes of the same square.
4. A wire rope climbing robot according to any one of claims 1 to 3, wherein: any clamping mechanism is provided with two clamping wheels which are arranged along the direction of a path through which the steel wire rope passes.
5. A wire rope climbing robot according to any one of claims 1-3, wherein: any clamping part comprises a first shell and a second shell detachably connected with the first shell.
6. A wire rope climbing robot according to any one of claims 1-3, wherein: the power input shaft is connected with a hand wheel.
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| CN202110758438.6A CN113511280B (en) | 2021-07-05 | 2021-07-05 | Steel wire rope climbing robot |
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| CN202110758438.6A CN113511280B (en) | 2021-07-05 | 2021-07-05 | Steel wire rope climbing robot |
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| CN113511280A CN113511280A (en) | 2021-10-19 |
| CN113511280B true CN113511280B (en) | 2022-11-29 |
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