CN105398988A - Flexible cable driving mechanism applied to dam inspection - Google Patents
Flexible cable driving mechanism applied to dam inspection Download PDFInfo
- Publication number
- CN105398988A CN105398988A CN201510793396.4A CN201510793396A CN105398988A CN 105398988 A CN105398988 A CN 105398988A CN 201510793396 A CN201510793396 A CN 201510793396A CN 105398988 A CN105398988 A CN 105398988A
- Authority
- CN
- China
- Prior art keywords
- effector
- dam
- flexible cable
- driven robot
- wire driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible cable driving mechanism applied to dam body inspection of a dam. The flexible cable driving mechanism is mainly composed of flexible cable driving units 1, flexible cables 2, a tail end actuator 3 and the like. The extending, retracting and tension of the four flexible cables can be changed mainly through control over motors by the flexible cable driving units, finally the tail end actuator is ensured to move stably on a dam body of the dam, and the security inspection of the dam is achieved. The flexible cable driving mechanism is simple in structure, convenient to disassemble and operate, and large in working space.
Description
Technical field
The present invention relates to one and be applied to dam context of detection Wire driven robot mechanism, realizing the folding and unfolding of flexible cable by controlling electric machine rotation, realizing end-effector moving freely on dam, complete the work that dam detects.
Background technology
Along with developing rapidly of dam, the safety problem of dam is more and more outstanding, also more and more urgent to the demand of Dam Safety Detection aspect.The development level that current instrument detects is limited, and instrument detects can only be accomplished " point detects ", and the automation system being simultaneously applied to detection also exists costly, reliability is difficult to problems such as ensureing, test item is incomplete, Installation and Debugging are difficult, real time implementation degree is low.
Summary of the invention
The present invention is directed to above problem, provide that a kind of structure is simple, compatible with environment is strong, can be applicable to the full automaticity Wire driven robot mechanism that dam detects.
For realizing the safety detection of dam, the present invention adopts following technical scheme.The present invention includes Wire driven robot unit, flexible cable and end-effector, by the rotating of Wire driven robot unit controls motor, realize the real-time control of flexible cable length.One end of flexible cable connects end-effector, and one end is connected with Wire driven robot unit in addition.Control the length of flexible cable and provide suitable tension force can realize the stable motion of end-effector on dam body.End-effector is the chest having installed 4 cardan wheels, according to different detection demands, can install corresponding detecting instrument, realize the variety that dam detects.
Dam detects and combines with Wire driven robot mechanism by the present invention, not only achieves the automation of Dam Safety Detection and comprehensive, and has saved the expense of detection, ensure that variety and the real-time of test item.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is Wire driven robot block construction schematic diagram of the present invention;
Fig. 3 is end effector structures schematic diagram of the present invention;
Fig. 4 is the lower view of end-effector in Fig. 1;
Fig. 5 is the front elevation of end-effector in Fig. 1.
Detailed description of the invention
Structural representation of the present invention as shown in Figure 1, mainly comprises Wire driven robot unit 1, flexible cable 2, end-effector 3.
Wire driven robot unit 1 constructional drawing of the present invention as shown in Figure 2, mainly comprises motor 4, tension pick-up 5, spool 6 etc.Motor 4 connects spool 6, and flexible cable 2 is wrapped on spool 6, is realized the rotation of spool 6 by the rotation controlling motor 4, thus controls the folding and unfolding of flexible cable 2, realizes the motion of end-effector 3 in dam body plane; Tension pick-up 5 is used for measuring in real time the pulling force of flexible cable, guarantees that each flexible cable can be run in tolerance range at tension force.
As shown in Figure 3, end-effector is formed primarily of hexagon box 7, latch closure 8, cardan wheel 9 structural scheme of mechanism of end-effector of the present invention.As shown in Figure 4, symmetry four planes of box install 4 latch closures 8 respectively, be used for realizing the connection of end-effector 3 and flexible cable 2.In order to ensure the motion of end-effector 3 in dam body plane, as shown in Figure 5, in the corner of the base plane of end-effector 3, cardan wheel 9 is installed respectively, in order to reduce end-effector 3 and the friction of dam body, realizes the alerting ability of Wire driven robot mechanism controls.
The present invention connects Wire driven robot unit 1 and end-effector 3 respectively by four flexible cables 2, flexible cable 2 and the connection of end-effector 3 realize by four latch closures 8 are auxiliary, four latch closures 8 lay respectively at the center of end-effector symmetrical plane, form a hexagon parallel with bottom surface, the stability of end-effector 3 can be ensured when this flexible cable mechanism runs.The Wire driven robot unit 1 of this mechanism needs to be fixed in dam plane, realizes detecting the safety detection in range of needs.
Claims (3)
1. be applied to the Wire driven robot mechanism that dam detects, mainly comprise Wire driven robot unit 1, flexible cable 2 and end-effector 3, the principal character of this invention is the length variations simultaneously being controlled four flexible cables 2 by four Wire driven robot unit 1, suitable flexible cable 2 tension force is provided, detecting instrument in flexible replacing end-effector 3, realize the motion of end-effector 3 in dam plane, finally complete the safety detection task of dam.
2. according to claim 1, Wire driven robot unit 1 mainly comprises the parts such as motor 4, tension pick-up 5, spool 6; This Wire driven robot mechanism, mainly through controlling the rotation of motor, comprises the rotating of motor 4, the rotating speed etc. of motor 4 drives the rotation of spool 6, thus realize the folding and unfolding of flexible cable 2, the final motion controlling end-effector 3.
3. according to claim 1, four latch closures 8 on end-effector 3 are distributed in the center of four symmetrical planes, and four latch closures 8 achieve the connection of end-effector 3 and Wire driven robot unit 1 by flexible cable 2; See the plane that four latch closures 8 of end-effector 3 are formed and upper and lower two plane parallel from top to bottom; 4 cardan wheels 9 have been installed at the angle, four, bottom surface of end-effector 3 respectively, in order to overcome friction, realize the flexible motion of end-effector 3 in dam plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510793396.4A CN105398988A (en) | 2015-11-18 | 2015-11-18 | Flexible cable driving mechanism applied to dam inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510793396.4A CN105398988A (en) | 2015-11-18 | 2015-11-18 | Flexible cable driving mechanism applied to dam inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105398988A true CN105398988A (en) | 2016-03-16 |
Family
ID=55464807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510793396.4A Pending CN105398988A (en) | 2015-11-18 | 2015-11-18 | Flexible cable driving mechanism applied to dam inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105398988A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625584A (en) * | 2016-11-28 | 2017-05-10 | 清华大学 | Robot for astronaut space work and based on cable parallel configuration |
| CN107526339A (en) * | 2017-09-29 | 2017-12-29 | 河南科技大学 | A kind of high-speed, high precision objective plane motion simulator |
| CN110271843A (en) * | 2018-03-14 | 2019-09-24 | 本田技研工业株式会社 | Mobile device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85104985A (en) * | 1985-07-01 | 1986-12-31 | 埃尔夫·阿查坦国营公司 | A kind of equipment that geophysics is measured in prospect pit |
| JPH06323864A (en) * | 1993-05-14 | 1994-11-25 | Takenaka Komuten Co Ltd | Displacement measuring equipment for pipe line using inertial sensor |
| CN1167359A (en) * | 1996-03-05 | 1997-12-10 | 东芝株式会社 | Inspection apparatus using measuring device, arm apparatus, and cylindrical surface circumferential movement apparatus |
| CN201392260Y (en) * | 2009-03-03 | 2010-01-27 | 浙江吉利汽车研究院有限公司 | Static ignition testing device for automobile safety belt pretensioner |
| CN101691763A (en) * | 2009-09-15 | 2010-04-07 | 河海大学 | Method for directly testing quality of PCC pile |
| CN103196416A (en) * | 2013-03-17 | 2013-07-10 | 水利部交通运输部国家能源局南京水利科学研究院 | Robot monitoring method and robot monitoring system of deformation inside dam |
-
2015
- 2015-11-18 CN CN201510793396.4A patent/CN105398988A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85104985A (en) * | 1985-07-01 | 1986-12-31 | 埃尔夫·阿查坦国营公司 | A kind of equipment that geophysics is measured in prospect pit |
| JPH06323864A (en) * | 1993-05-14 | 1994-11-25 | Takenaka Komuten Co Ltd | Displacement measuring equipment for pipe line using inertial sensor |
| CN1167359A (en) * | 1996-03-05 | 1997-12-10 | 东芝株式会社 | Inspection apparatus using measuring device, arm apparatus, and cylindrical surface circumferential movement apparatus |
| CN201392260Y (en) * | 2009-03-03 | 2010-01-27 | 浙江吉利汽车研究院有限公司 | Static ignition testing device for automobile safety belt pretensioner |
| CN101691763A (en) * | 2009-09-15 | 2010-04-07 | 河海大学 | Method for directly testing quality of PCC pile |
| CN103196416A (en) * | 2013-03-17 | 2013-07-10 | 水利部交通运输部国家能源局南京水利科学研究院 | Robot monitoring method and robot monitoring system of deformation inside dam |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625584A (en) * | 2016-11-28 | 2017-05-10 | 清华大学 | Robot for astronaut space work and based on cable parallel configuration |
| CN107526339A (en) * | 2017-09-29 | 2017-12-29 | 河南科技大学 | A kind of high-speed, high precision objective plane motion simulator |
| CN110271843A (en) * | 2018-03-14 | 2019-09-24 | 本田技研工业株式会社 | Mobile device |
| CN110271843B (en) * | 2018-03-14 | 2021-04-20 | 本田技研工业株式会社 | Mobile device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105150193B (en) | A kind of super redundancy flexible mechanical arm based on closed loop line driving | |
| Debenest et al. | Expliner-Robot for inspection of transmission lines | |
| BRPI0720026B1 (en) | SYSTEM TO PERFORM AUTOMATIC KITCHEN FLIGHT CONTROL | |
| CN105398988A (en) | Flexible cable driving mechanism applied to dam inspection | |
| CN102179813B (en) | Flexible inchworm-like robot | |
| CN103696711B (en) | A kind of drilling rod manipulation robot | |
| CN104571124A (en) | Three-degree-of-freedom attitude simulation device for underwater vehicle | |
| CN108032330A (en) | A kind of compact machines people integral joint module and compact machines people | |
| CN104647362A (en) | Three-degree-of-freedom cylindrical coordinate hydraulic drive manipulator | |
| CN106741756B (en) | The underwater operation robot positioning system of pile is bundled with cable based on auxiliary robot | |
| JP2016203332A (en) | Robot and robot system | |
| CN203765634U (en) | Structurally improved robot | |
| CN107905269A (en) | A kind of paired cable winch gear for ultrasonic wave pore-forming grooving quality testing | |
| CN106584484B (en) | Fuselage rotary overhead line operation robot structure and application | |
| CN103715631B (en) | Single armed obstacle crossing type transmission line operation robot | |
| CN208592849U (en) | A kind of seven axis joint robots based on hollow driver | |
| CN103912015A (en) | Tube coupling drawing system | |
| CN202592385U (en) | Numerical control flexible mechanical arm device with six degrees of freedom | |
| CN203510204U (en) | Omni-directional intelligent mobile assembly robot | |
| Songyi et al. | Development of a self-balance dual-arm robot for inspection of high-voltage power transmission lines | |
| CN108748091A (en) | Rope driving gravity compensation system in parallel towards big reachable tree and rope driving unit via Self-reconfiguration Method | |
| JP2016203344A (en) | robot | |
| CN205543240U (en) | Antenna actuating mechanism is transferred to electricity | |
| CN205114915U (en) | Hoist cable drum cable protection device | |
| CN102464269A (en) | Telescopic-arm crane and superlift angle automatic shifting apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160316 |