Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
High-altitude cable rope climbing mechanism and robot based on elastic frame
The invention discloses a high-altitude cable rope climbing mechanism and robot based on an elastic frame. The high-altitude cable rope climbing mechanism comprises three drive wheel sets, a connecting device, a descent speed limiting device and obstacle induction devices. The connecting device comprises three parallel connecting rods. Each idler wheel can serve as a drive wheel and is conic. The side, making contact with a cable rope, of each idler wheel is provided with stripes. The deviation directions of the stripes on the two idler wheels in each drive wheel set are opposite. By the adoption of the structure, when the idler wheels rotate in the same direction, the robot climbs upwards; and when the idler wheels rotate in the opposite directions, the robot does not perform climbing operation and rotates around the center of the cable rope at the angular speed, and therefore the whole outer cylindrical face is detected. In addition, the braking force is increased along with the increase of the descending speed, the descending speed and the braking force are in a dynamic balanced process, and the robot can descend at a constant speed or nearly a constant speed. Meanwhile, the outer cylindrical face of the cable rope can be subjected to circumferential fault detection at 360 degrees, and no detection dead angle exists.
High-altitude cable rope climbing mechanism and robot based on elastic frame
The invention discloses a high-altitude cable rope climbing mechanism and robot based on an elastic frame. The high-altitude cable rope climbing mechanism comprises three drive wheel sets, a connecting device, a descent speed limiting device and obstacle induction devices. The connecting device comprises three parallel connecting rods. Each idler wheel can serve as a drive wheel and is conic. The side, making contact with a cable rope, of each idler wheel is provided with stripes. The deviation directions of the stripes on the two idler wheels in each drive wheel set are opposite. By the adoption of the structure, when the idler wheels rotate in the same direction, the robot climbs upwards; and when the idler wheels rotate in the opposite directions, the robot does not perform climbing operation and rotates around the center of the cable rope at the angular speed, and therefore the whole outer cylindrical face is detected. In addition, the braking force is increased along with the increase of the descending speed, the descending speed and the braking force are in a dynamic balanced process, and the robot can descend at a constant speed or nearly a constant speed. Meanwhile, the outer cylindrical face of the cable rope can be subjected to circumferential fault detection at 360 degrees, and no detection dead angle exists.
High-altitude cable rope climbing mechanism and robot based on elastic frame
XU FENGYU (Autor:in) / SHEN JINGJIN (Autor:in) / JIANG GUOPING (Autor:in)
24.02.2016
Patent
Elektronische Ressource
Englisch
IPC:
E01D
BRIDGES
,
Brücken
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