CN109371831A - Cable inspection maintaining robot and its application method with flexible two-pawl structure - Google Patents
Cable inspection maintaining robot and its application method with flexible two-pawl structure Download PDFInfo
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- CN109371831A CN109371831A CN201811333078.XA CN201811333078A CN109371831A CN 109371831 A CN109371831 A CN 109371831A CN 201811333078 A CN201811333078 A CN 201811333078A CN 109371831 A CN109371831 A CN 109371831A
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- fore paw
- cable
- rear solid
- solid end
- flexible
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/16—Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables
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- Architecture (AREA)
- Civil Engineering (AREA)
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Abstract
A kind of cable inspection maintaining robot and its application method with flexible two-pawl structure of the present invention, it includes fore paw, the fore paw palm, fuselage, rear solid end and the rear solid end palm；The fuselage is equipped with fore paw rack and rear solid end rack, and the fore paw is slapped by fore paw and is fixedly connected with one end of fore paw rack, and the rear solid end is slapped by rear solid end and is fixedly connected with one end of rear solid end rack；The fore paw palm is equipped with fore paw clamp system, and the rear solid end palm is equipped with rear solid end clamping structure；The fore paw uses bendable structure；The fore paw includes several finger joints, such as fore paw first segment, the second section of fore paw, fore paw third section and the last section of finger joint；Several finger joints are successively connected by a hinge from beginning to end, and the fore paw palm of the last section of finger joint and fore paw is hinged.The present invention can not only reduce the damage to cable, but also can get around barrier and weak link.
Description
Technical field
The present invention relates to intelligent robot technology field more particularly to a kind of cable inspections with flexible two-pawl structure
Maintaining robot and its application method.
Background technique
Cable is widely applied as drag-line in hanging occasion, and reliability is extremely important.
In daily life, exposure in air, by wind, solarization, drenches with rain and is invaded with environmental pollution cable for a long time
Erosion can make the surface PE protective layer of cable occur hardening or damaged phenomenon, then cause inner wire beam or steel strand wires by
To corrosion, in some instances it may even be possible to the phenomenon that will appear fracture of wire, on the other hand, the steel tendon due to wind shake, rain vibration etc., inside cable
Friction is generated, causes steel wire wear, fracture of wire phenomenon, the safety of the people of serious harm can also occur for serious person.With these bridges
The extension of beam active time is also continuously increased the detection demand of drag-line, suspension cable etc., outstanding to the detection of its sealer damage
It to be important, find and safeguards in time, be more advantageous to steel wire in protection rope, increase cable body service life, maintenance bridge safety.With
The continuous development of bridge construction, new large-scale suspension cable, suspension bridge are widely used.And master of the cable as this kind of bridge
Force mechanism is wanted, quality directly decides the service life of bridge.Polyethylene (PE) protective layer on cable surface exposes for a long time
In the air in river, river, lake, marine face and mountain valley, it may appear that different degrees of age hardening wait is destroyed.Simultaneously because river sea
Windward is big, rain is anxious, and cable can generate wind and rain shake, therefore PE layers of cable surface production helix or pressure now under wind and rain effect
The damage that flower pit or the two are used in combination to reduce wind and rain shake to cable and bridge, and universal application is obtained, this is simultaneously
Also new problem is brought to cable inspection.With the extension of these bridge active times, to the detection demand of drag-line, suspension cable etc.
It is continuously increased, it is particularly important to the detection of its sealer damage, it finds and safeguards in time, be more advantageous to steel in protection rope
Silk increases cable body service life, maintenance bridge safety.
Maintenance cable has the scheme of cable-climbing robot and unmanned plane both direction.In recent years, cable-climbing robot is to cable
The tracing ability of rope is good, direction and position degree of controllability are high and economical and practical obtain more concern and research.
There are some scientific research institutions that this respect has also been made to study accordingly, such as the patent text of Patent No. 99252056.8
Part discloses a kind of electrical cable-maintaining robot climbing device, which can preferably complete coating maintenance function, but
It is that structure is complicated, than cumbersome, and uses cable power supply, influenced by working environment, is suitble to the long rope operating environment in high-altitude, and examine
It is very low to survey efficiency.The testing requirements that meet of part are capable of in these robots, but detection efficiency is lower, to bridge holding time
It is long, influence traffic.
The technical solution having disclosed at present and other prior arts are in the prevalence of following problems: (1) maintenance process
In, the mechanical force between idler wheel and cable itself will result in the risk of cable damage；(2) there may be settings on cable
The weak link of attachment or cable by maintenance, the defect that cable-climbing robot can not be got around；(3) some cable-climbing robots
Want the maintenance for electric pole, but often there are many attachment on electric pole, existing cable-climbing robot can not be got around.
Summary of the invention
The cable inspection maintenance with flexible two-pawl structure that the purpose of the present invention is to overcome the above shortcomings and to provide a kind of
Robot and its application method intelligently mitigate damage of the upkeep operation to cable, while can rapidly and accurately avoid obstacle.
The object of the present invention is achieved like this:
A kind of cable inspection maintaining robot with flexible two-pawl structure, it include fore paw, the fore paw palm, fuselage, rear solid end and
The rear solid end palm；
The fuselage is equipped with fore paw rack and rear solid end rack, the fixed company in one end that the fore paw passes through the fore paw palm and fore paw rack
It connects, the rear solid end is slapped by rear solid end and is fixedly connected with one end of rear solid end rack；The fore paw palm is equipped with fore paw clamp system, institute
Rear solid end palm is stated equipped with rear solid end clamping structure；
The fore paw uses bendable structure；The fore paw includes several finger joints, such as fore paw first segment, the second section of fore paw, fore paw
Third section and the last section of finger joint；Several finger joints are successively connected by a hinge from beginning to end, the last section of finger joint and fore paw
The fore paw palm it is hinged；
The structure of the rear solid end and the structure of fore paw are identical, and the structure of the rear solid end palm is identical as the structure that fore paw is slapped, after described
The structure of pawl clamp system is identical as the structure of fore paw clamp system.
A kind of cable inspection maintaining robot with flexible two-pawl structure, the fore paw clamp system include mutually interconnecting
The driving motor and drive shaft connect.
A kind of cable inspection maintaining robot with flexible two-pawl structure, sets that there are two upper in the fore paw first segment
The draught line fixed point of lower arrangement, each draught line fixed point fix a draught line, and the draught line includes inside draught line
It is fixed in the outer circle of drive shaft with the end of outside draught line, the inside draught line, the outside draught line is with opposite
Rotation direction is fixed on the driving shaft, and the rotation of driving axial different directions can drive inside draught line and outside draught line to tighten respectively
With loosen.
A kind of cable inspection maintaining robot with flexible two-pawl structure, the rotation of the hinge of each finger joint front end
The two sides of connecting line segment between the shaft heart and the axis of rotation of the hinge of rear end are each provided with two pin shafts, the axis of the pin shaft
Line is parallel with the axis of rotation of hinge, and the pin shaft is fixed in finger joint；The radius of the pin shaft is less than the center of circle of pin shaft to two
The distance of connecting line segment between a hinge axis of rotation heart.
A kind of cable inspection maintaining robot with flexible two-pawl structure, the center of circle of the pin shaft to two hinges
The distance of connecting line segment subtracts radius of the pin shaft radius equal to the outer circle of hinge axis between axis of rotation.
A kind of cable inspection maintaining robot with flexible two-pawl structure, the draught line on the fore paw first segment are solid
The line in fixed point and the axle center of pin shaft is parallel to the line of hinge axis.
A kind of cable inspection maintaining robot with flexible two-pawl structure, in each finger joint, in two hinge centers of circle
At least arrange that a diameter is greater than 1.00108 ~ 8.18 times of hinge outside diameter of big pin shaft on line.
A kind of cable inspection maintaining robot with flexible two-pawl structure, the fore paw rack are equipped with fore paw folding and unfolding
Lead screw, described fore paw folding and unfolding lead screw one end are connect with fore paw folding and unfolding driving motor, are received on the fore paw folding and unfolding lead screw by fore paw
It puts nut and is provided with cable climbing driving motor；Cable climbing driving lead screw connection is equipped between the rear solid end rack and cable climbing driving motor,
One end of the cable climbing driving lead screw is set between the rear solid end rack and fore paw rack by driving nut to connect with rear solid end rack
There is angular locating rod.
A kind of application method of the cable inspection maintaining robot with flexible two-pawl structure, comprising the following steps:
S1, first the cable inspection maintaining robot with flexible two-pawl structure is moved to it is appropriate near the cable to be safeguarded
Orientation, fore paw and flexible rear solid end are all in relaxed state；
S2, fore paw is sent into from the side of cable, drive shaft 4 can drive according to the instruction of driving motor to different directions rotation
Inside draught line and outside draught line are tightened and are loosened respectively, and outside draught line is unclamped, and tense inside draught line, fore paw will be to
Cable bending, and cable of holding with a firm grip tense the draught line far from cable, fore paw on the contrary, unclamping the draught line close to cable
Cable will be left to stretch, and unclamp cable；
S3, flexible rear solid end and cable keep disengaged condition, and cable climbing driving motor drives lead screw according to intelligent order-driven cable climbing
It rotating in the forward direction, cable climbing drives lead screw to pull with the driving nut in the rear solid end rack of its worm drive cooperation close to fore paw, thus
Drive rear solid end close to fore paw, rear solid end, which reaches designated position, to be stopped and hold with a firm grip with fore paw identical mode by way of cable of holding with a firm grip
Cable；
S4, fore paw unclamp cable and keep disengaged condition, and cable climbing driving motor is reversed according to intelligent order-driven cable climbing driving lead screw
Rotation, cable climbing drive lead screw to push with the driving nut in the rear solid end rack of its worm drive cooperation far from fore paw, to drive
Flexible rear solid end is far from fore paw；Since flexible rear solid end and cable are held with a firm grip fixation, fore paw refers to relative to the cable arrival that travels forward
Stopping is set in positioning and identical mode is held with a firm grip cable by way of with second step, and realization, which is climbed, etc. is directed toward next Seeding location
The purpose to travel forward；So circulation, robot just travel forward along cable；When return fore paw close to flexible rear solid end, can
Rear solid end is bent to recycle far from fore paw.
A kind of application method of the cable inspection maintaining robot with flexible two-pawl structure, when the front of fore paw is found
When obstacle, step 1: fore paw unclamps cable, fore paw folding and unfolding driving motor instructs according to intelligence and determines stroke parameter and path, with
The cable surface avoiding obstacle or should not holding with a firm grip reversely rotates driving fore paw folding and unfolding lead screw；Fore paw folding and unfolding lead screw drives and it
The direction of the fore paw folding and unfolding nut that screw is cooperatively connected towards close cable moves, and drives and the fixed company of fore paw folding and unfolding nut
The rear solid end bracket connect is towards close to cable movement, and since flexible rear solid end is held with a firm grip on cable, fore paw, which is retracted, exits cable；The
Two steps: cable climbing driving motor instructs according to intelligence and determines stroke parameter and path, with the cable avoiding obstacle or should not holding with a firm grip
Surface, driving cable climbing driving lead screw and driving nut movement, drive fore paw to travel forward and surmount obstacles；Intelligent predicting is reached without barrier
Hinder position, detect whether it is faulty, if it is still faulty; would continually look for not having faulty position；Step 3: detection confirmation is true
After accessible, fore paw folding and unfolding driving motor, fore paw folding and unfolding lead screw and fore paw folding and unfolding nut driving rear solid end bracket are moved inward, fore paw
It is released to the position for the cable that is suitble to hold with a firm grip；
Identical as the avoidance mode of fore paw when the front of flexible rear solid end finds obstacle, fore paw folding and unfolding driving motor, fore paw are received
It puts lead screw and fore paw folding and unfolding nut driving rear solid end bracket is mobile away from the direction of cable, flexible rear solid end, which is retracted, exits cable
Rope surmounts obstacles under the driving of cable climbing driving motor, cable climbing driving lead screw and driving nut, then fore paw folding and unfolding driving electricity
Machine, fore paw folding and unfolding lead screw and fore paw folding and unfolding nut drive rear solid end bracket mobile towards cable, and flexible rear solid end, which is released to, to be suitble to hold
The position of tight cable.
Compared with prior art, the beneficial effects of the present invention are:
The present invention uses flexible two-pawl structure intelligent control, and mitigation is contacted with cable surface to cable bring friction damage,
Avoid the obstacle on cable surface.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is that fore paw 1 of the invention is held with a firm grip the schematic diagram of cable state.
Fig. 3 is the C-C diagrammatic cross-section of Fig. 2.
Fig. 4 is the schematic top plan view that fore paw 1 of the invention unclamps straight configuration.
Fig. 5 is the B-B diagrammatic cross-section of Fig. 4.
Wherein:
Fore paw 1, fore paw first segment 1.3, draught line fixed point 1.4, pin shaft 1.5, hinge 1.6, big pin shaft 1.7, the second section of fore paw
1.8, fore paw third section 1.9, draught line 1.10, interior survey draught line 1.10.1, outside draught line 1.10.2, the last section of finger joint
1.11, cable 2, fore paw are slapped 3, fore paw clamp system 4, driving motor 4.1, drive shaft 4.3, fuselage 5, fore paw folding and unfolding lead screw 6, are climbed
Rope driving motor 7, fore paw folding and unfolding nut 8, angular locating rod 9, fore paw rack 10, fore paw folding and unfolding driving motor 11, rear solid end 12, after
The pawl palm 13, rear solid end clamp system 14, rear solid end rack 15, driving nut 16, cable climbing drive lead screw 17.
Specific embodiment
Embodiment 1:
Referring to Fig. 1-5, a kind of cable inspection maintaining robot with flexible two-pawl structure of the present invention, before it includes
Pawl 1, fore paw slap 3, fore paw clamp system 4, fuselage 5, fore paw folding and unfolding lead screw 6, cable climbing driving motor 7, angular locating rod 9, fore paw
Rack 10, fore paw folding and unfolding driving motor 11, rear solid end 12, the rear solid end palm 13, rear solid end clamp system 14, rear solid end rack 15 and cable climbing driving
Lead screw 17.
The fore paw 1 is fixedly connected by the fore paw palm 3 with one end of fore paw rack 10, and the fore paw rack 10 is arranged in machine
On body 5, the fore paw rack 10 is equipped with fore paw folding and unfolding lead screw 6, described 6 one end of fore paw folding and unfolding lead screw and fore paw folding and unfolding driving electricity
Machine 11 connects, and fore paw folding and unfolding nut 8 is provided with cable climbing driving motor 7 on the fore paw folding and unfolding lead screw 6.
The structure of the rear solid end 12 is identical as the structure of fore paw 1, the structure and the structure phase of the fore paw palm 3 of the rear solid end palm 13
Together, the structure of the rear solid end clamp system 14 is identical as the structure of fore paw clamp system 4.
The fore paw 1 uses bendable structure, can stretch or even bend to opposite direction when not working, can be with when work
Bending surrounds cable 2；
The fore paw 1 includes several finger joints, such as 1 first segment 1.3 of fore paw, 1 second section 1.8 of fore paw, 1 third section 1.9 of fore paw and most
Last one section of finger joint 1.11；Several finger joints are sequentially connected, since 1 first segment 1.3 of fore paw, the end end of previous section with it is next
The starting point of section connects, and the end end of final section and the fore paw palm 3 of fore paw 1 are hinged, and the finger joint successively passes through hinge from beginning to end
1.6 connection；
Draught line fixed point 1.4 arranged up and down there are two being set in 1 first segment 1.3 of fore paw, each draught line fixed point 1.4
Fix a draught line 1.10.
The fore paw palm 3 is equipped with fore paw clamp system 4, and the fore paw clamp system 4 includes driving motor 4.1 and driving
Axis 4.3, the driving motor 4.1 are connect with drive shaft 4.3, and the draught line 1.10 includes inside draught line 1.10.1 and outside
Draught line 1.10.2, the end of the inside draught line 1.10.1 are fixed in the outer circle of drive shaft 4.3, the outside draught line
1.10.2 it is fixed in drive shaft 4.3 with opposite rotation direction, drive shaft 4.3 can drive inside draught line to different directions rotation
1.10.1 it tightens and loosens respectively with outside draught line 1.10.2.The pawl palm 3 is fixed on fuselage 5, and the fore paw palm 3 passes through
Connects hinge 3.4 is connect with the last section of finger joint 1.11 of fore paw 1, and the interior survey that the last section of finger joint 1.11 of fore paw 1 is drawn is led
Lead 1.10.1 and outside draught line 1.10.2 is fixed in the outer circle of drive shaft 4.3 oppositely orientedly.
Connecting line between the axis of rotation of the hinge 1.6 of the axis of rotation and rear end of the hinge 1.6 of each finger joint front end
The two sides of section are each provided with two pin shafts 1.7, and the axis of the pin shaft 1.7 is parallel with the axis of rotation of hinge 1.6, the pin shaft
1.6 are fixed in finger joint；The radius of the pin shaft 1.6 is less than the center of circle of pin shaft to connecting line segment between two hinge axis of rotation hearts
Distance；The pin shaft can be replaced with sheave, and the outer circle of hinge axis may also set up sheave.
The draught line 1.10 is passed through respectively along between two pin shafts 1.5 for connecting each finger joint, againsts side pin
The outer circle of axis 1.6 outer circle and hinge axis guides to final section, and enters palm, the bending as control fore paw 1；Which is tensed
The finger joint of the draught line of side, fore paw 1 will be to which lateral bend；Realize the purpose held cable tightly and unclamp cable；And according to inspection
It surveys next position cable size of holding with a firm grip that device measures and intelligently determines the size unclamped, shorten working hours and reduce the energy
Consumption.
The distance of the center of circle of the pin shaft 1.6 to connecting line segment between the axis of rotation of two hinges 1.6 subtracts pin shaft 1.6
Radius is equal to the radius of the outer circle of hinge axis；
The pin shaft is symmetrical along hinge axis line on each section between the hinge axis of starting point and the hinge axis at end end,
Close to each two pin shafts of each hinge axis location, the center of pin shaft center and its close hinge centres is away from equal to pin shaft radius
With 1.2 times of the sum of hinge exradius.
The line of draught line fixed point 1.4 and 1.5 center of circle of pin shaft on 1 first segment 1.3 of fore paw is parallel to hinge axis
Line；
In each finger joint, at least arranged on two hinge circle center line connectings a diameter be greater than hinge outside diameter 1.00108 ~
8.18 times of big pin shaft 1.7, preferably diameter are greater than 1.08 ~ 1.26 times of hinge outside diameter of big pin shaft 1.7.
The rear solid end 12 is fixedly connected by the rear solid end palm 13 with one end of rear solid end rack 15, and the rear solid end rack 15 is set indirectly
It sets on fuselage 5, cable climbing driving lead screw 17 is equipped between the rear solid end rack 15 and cable climbing driving motor 7 and is connected, the cable climbing
One end of driving lead screw 17 is by driving nut 16 to connect with rear solid end rack 15, between the rear solid end rack 15 and fore paw rack 10
Equipped with angular locating rod 9.
The fore paw 1 is equipped with several detection devices 20 and apparatus for work 21, and the detection device 20 can be vision biography
Sensor, velocity sensor, gyroscope, acceleration transducer, ultrasonic sensor, height above sea level detector, gas detecting instrument, position
Displacement sensor, tellurometer survey sensor, leakage field sensor, sinusoidal sensor, temperature sensor, humidity sensor, position sensing
Device, wind sensor, weight sensor, force snesor, optical sensor, acidity tester, gas sample collector etc.；The operation dress
Setting 21 can be paint finishing, cleaning system, PE repair system etc..
The fuselage 5 is equipped with core processor and protective device, and the core processor is established cable-maintaining account, kept away
It is excused from a college course reset and sets stress, the rule of statistics cable damage and failure, the effect of restorative procedure.Safety, economically arranges dimension at science
Operation is protected, material, state, brand, the power configuration for overhaul, update cable, buying, design cable provide initial data；Core
Heart processor issues instruction according to the data detected, locating space gases sample is acquired, for analyzing cable changing factor；Core
Processor prompts power supply and can bear task according to weight, electric power and the recent electric power and working result data detected；It holds
During row task, according to the cable situation for the task that executed, such as length, the gradient, power consumption, estimation returns to needs
Power returns in time, and excessive power consumption is avoided to cause to be not easy smoothly to return；Core processor according to the weight detected, with
And the parameters such as gradient, it determines normal pressure of the force application element on cable, by controlling normal pressure, reduces power consumption and to cable
Injury；When high-altitude electrical fault cannot move, core processor controls robot by constantly adjusting enclasping force, makes robot
Ground is slided into constant speed by gravity, is repaired.
The fuselage 5 installs acceleration transducer, when acceleration is more than setting value, can cut off power output by force,
Increase enclasping force, prevents out of control.
5 bottom of fuselage is provided with castor, convenient in ground moving.
Working principle:
When work, fore paw 1 is sent into from the side of cable 2, the draught line far from cable 2 is unclamped, tenses the traction close to cable 2
Line, fore paw 1 will be bent towards cable 2, and cable 2 of holding with a firm grip.On the contrary, unclamping the draught line close to cable 2, tense separate
The draught line of cable 2, fore paw 1 will leave cable 2 and stretch, and unclamp cable 2.
The draught line far from cable 2 is unclamped, when tensing close to the draught line of cable 2, the draught line far from cable 2 is in pine
Relaxation state, and can be sent into from the right side of the third section 1.9 of fore paw 1, to not generate active force to fore paw 1.
The draught line that the close cable 2 of upside is tensed on the right side of the third section 1.9 of fore paw 1, only due to draught line flexible
Drawing force can be born, bending force can not be born, being formed between all two fixing points can only bear along two fixing points
Two power bars (or being two-force member) of line direction drawing force, fixed point here have: draught line fixed point 1.4, pin shaft
1.5, the end of hinge 1.6, big pin shaft 1.7 and draught line contact line；
On fore paw first segment 1.3, the draught line between draught line fixed point 1.4 and pin shaft 1.5 tilts to the right, draught line
The two power bars that draught line between fixed point 1.4 and pin shaft 1.5 is formed generate pin shaft 1.5 and are directed toward upper left side along draught line
Tractive force；
Big pin shaft 1.7 is equipped on 1 second section 1.8 of fore paw, the draught line between big pin shaft 1.7 and pin shaft 1.5 inclines to upper right side
Tiltedly, the two power bars that the draught line between big pin shaft 1.7 and pin shaft 1.5 is formed generate pin shaft 1.5 and are directed toward upper right side along traction
The tractive force of line；
Pin shaft 1.5 on fore paw first segment 1.3 generates the pin shaft 1.5 being directed toward on upper left tractive force and 1 second section 1.8 of fore paw and generates
It is directed toward upper right tractive force, upward moment of flexure is generated to the hinge 1.6 between 1 second section 1.8 of fore paw first segment 1.3 and fore paw；When
When 1 first segment 1.3 of fore paw and 1 second section 1.8 of fore paw are bent upwards around the hinge 1.6 between them, 1.6 top of hinge
The distance between two pin shafts 1.5 of two sides shorten, and the length of the draught line during which needed is reduced, and have dissolved draught line
Tightening force so that 1 first segment 1.3 of fore paw and 1 second section 1.8 of fore paw around the hinge 1.6 between them further up
Bending；
Similarly, when tensing the draught line of the close cable of upside, 1 second section 1.8 of fore paw and 1 third section 19 of fore paw are around them
Between hinge be bent further up；Until the upper side of fore paw 1 touches the surface of cable 2, formed by Mechanical Contact
Normal pressure, gradually only " limited " bending, the distance between two pin shafts 1.5 of 1.6 top two sides of hinge only " have fore paw 1
Limit " shortens, and the length of the draught line during which needed is only " limited " to be shortened, and " limited " here is meant through Mechanical Contact power
Amount generates mechanical elasticity and is even plastically deformed or is displaced；Re-establish tightening force；It is adjustable by changing the size of tightening force
The size of normal pressure forms stiction between fore paw 1 and cable 2.
While being bent upwards with fore paw 1, although the distance between two pin shafts of hinge lower part two sides shorten, by
Cornerite of the draught line on hinge in downside increases, and partial straight lines distance becomes curve, under needing between both of the aforesaid pin shaft
The traction line length of side increases；Meanwhile the draught line place mat adaptation fore paw 1 of downside is stretched between two pin shafts of hinge lower part two sides
The trend opened, left side pin shaft tilt to the right with the draught line on the downside of hinge, the draught line on the downside of right side pin shaft and hinge to
Lower left inclination；As long as unclamping the draught line of upside, tense the draught line of downside, between two pin shafts of hinge lower part two sides under
The draught line of side forms two power bars of similar process of holding with a firm grip, is formed to the pin shaft in left side and is directed toward bottom right and by the power on the downside of hinge
Amount forms the pin shaft on right side and is directed toward lower-left and by the strength on the downside of hinge, generate the sections of hinge two sides around the hinge to
Under curved torque, when being stretched downwards due to fore paw 1 on the downside of cornerite of the draught line on hinge reduce, hinge lower part two sides
The length that the draught line of downside needs between two pin shafts shortens；Since the center of circle of pin shaft connects between two hinge axis of rotation hearts
The distance of wiring section subtracts radius of the pin shaft radius equal to the outer circle of hinge axis, so that fore paw 1 gradually stretches.
One of beneficial aspects principle of the invention, coefficient of maximum static friction are greater than maximum dynamic friction coefficient, thus realize compared with
Small normal pressure establishes enough frictional force, mitigates machine man-hour, and force application element contacts the damage to cable with cable surface
Wound；Force application element keeps opposing stationary with cable surface, mainly avoids prior art idler wheel and contacts repeatedly, is detached from cable table
Face overcomes Coulomb friction to cause cable surface to tear the damage for principal mode.The beneficial aspects of Intelligent robot are also
Have, it is different according to every subjob and operation different phase own wt and operating condition resistance etc., adaptable support force is set, and tie
Specific coefficient of friction is closed, the speed of service and normal pressure are set, realizes the purpose for mitigating cable damage.
Certainly, in practical work process, it can also be sent into fore paw 1 on one side, on one side bending etc., to avoid obstacle；It can also be with
The even entire fore paw 1 of draught line uses asymmetric setting, to mitigate own wt and cost.
A kind of application method of cable inspection maintaining robot with flexible two-pawl structure of the present invention, including
Following steps:
(1) the cable inspection maintaining robot with flexible two-pawl structure is first moved to the cable 2 to be safeguarded nearby to fit
Work as orientation, fore paw and flexible rear solid end are all in relaxed state；
(2) fore paw is sent into from the side of cable 2, drive shaft 4.3 is to different directions rotation according to the instruction of driving motor 4.1
Inside draught line 1.10.1 and outside draught line 1.10.2 can be driven to tighten and loosen respectively, unclamp outside draught line 1.10.2,
Inside draught line 1.10.1 is tensed, fore paw 1 will be bent towards cable 2, and cable 2 of holding with a firm grip, on the contrary, unclamping close to cable
2 draught line tenses the draught line far from cable 2, and fore paw 1 will leave cable 2 and stretch, and unclamp cable 2；
(3) flexible rear solid end and cable 2 keep disengaged condition, and cable climbing driving motor 7 drives silk according to intelligent order-driven cable climbing
Thick stick 17 rotates in the forward direction, and it is close with the driving nut 16 in the rear solid end rack 15 of its worm drive cooperation that cable climbing drives lead screw 17 to pull
Fore paw 1, to drive rear solid end 12 close to fore paw 1, rear solid end 12, which reaches designated position, to be stopped and by holding with a firm grip cable 2 with fore paw 1
The identical mode of mode is held with a firm grip cable 2；
(4) fore paw unclamps the holding disengaged condition of cable 2, and cable climbing driving motor 7 drives lead screw 17 according to intelligent order-driven cable climbing
It reversely rotating, cable climbing drives lead screw 17 to push with the driving nut 16 in the rear solid end rack of its worm drive cooperation far from fore paw,
To drive flexible rear solid end far from fore paw；Since flexible rear solid end and cable 2 are held with a firm grip fixation, fore paw relative to cable 2 forward
Move to that designated position stops and identical mode is held with a firm grip cable 2 by way of with second step, realization is climbed etc. be directed toward under
The purpose that one Seeding location travels forward；So circulation, robot just travel forward along cable 2；Fore paw is close when return
Flexible rear solid end, flexible rear solid end are recycled far from fore paw；
(5) when the front of fore paw finds obstacle, step 1: fore paw unclamps cable 2, fore paw folding and unfolding driving motor 11, according to intelligence
It can instruct and determine stroke parameter and path, to avoid 2 surface of obstacle or the cable that should not be held with a firm grip, reversely rotate driving fore paw and receive
Put lead screw 6；Fore paw folding and unfolding lead screw 6 driving with its screw be cooperatively connected fore paw folding and unfolding nut 8 towards close to cable 2 side
To movement, the rear solid end bracket 15 being fixedly connected with fore paw folding and unfolding nut 8 is driven to move towards close to cable 2, after flexible
Pawl is held with a firm grip on cable 2, and fore paw, which is retracted, exits cable 2；Step 2: cable climbing driving motor 7 is instructed according to intelligence determines stroke
Parameter and path, to avoid 2 surface of obstacle or the cable that should not be held with a firm grip, driving cable climbing driving lead screw 17 and driving nut 16 are transported
It is dynamic, it drives fore paw to travel forward and surmounts obstacles；Reach the accessible position of intelligent predicting, detect whether it is faulty, it is false if there is therefore
Barrier then continually looks for not having faulty position；Step 3: detection confirmation really it is accessible after, fore paw folding and unfolding driving motor 11, fore paw
Folding and unfolding lead screw 6 and fore paw folding and unfolding nut 8 drive rear solid end bracket 15 to move inward, and fore paw is released to the position for the cable 2 that is suitble to hold with a firm grip
It sets；
(6) identical as the avoidance mode of fore paw when the front of flexible rear solid end finds obstacle, fore paw folding and unfolding driving motor 11,
Fore paw folding and unfolding lead screw 6 and fore paw folding and unfolding nut 8 drive rear solid end bracket 15 mobile away from the direction of cable 2, flexible rear solid end
It is retracted and exits cable 2, surmount obstacles under the driving of cable climbing driving motor 7, cable climbing driving lead screw 17 and driving nut 16, so
Fore paw folding and unfolding driving motor 11, fore paw folding and unfolding lead screw 6 and fore paw folding and unfolding nut 8 drive rear solid end bracket 15 mobile towards cable 2 afterwards,
Flexible rear solid end is released to the position for the cable 2 that is suitble to hold with a firm grip.
The above is only specific application examples of the invention, are not limited in any way to protection scope of the present invention.All uses
Equivalent transformation or equivalent replacement and the technical solution formed, all fall within rights protection scope of the present invention.
Claims (10)
1. a kind of cable inspection maintaining robot with flexible two-pawl structure, it is characterised in that: it includes fore paw (1), preceding
Pawl slaps (3), fuselage (5), rear solid end (12) and the rear solid end palm (13)；
The fuselage (5) is equipped with fore paw rack (10) and rear solid end rack (15), and the fore paw 1 slaps (3 and fore paw machine by fore paw
(10 one end is fixedly connected frame, and the rear solid end (12) is fixedly connected by the rear solid end palm (13) with one end of rear solid end rack (15)；Institute
It states the fore paw palm (3) and is equipped with fore paw clamp system (4), the rear solid end palm (13) is equipped with rear solid end clamping structure (14)；
The fore paw (1) uses bendable structure；The fore paw (1) includes several finger joints, such as fore paw first segment (1.3), fore paw
Second section (1.8), fore paw third section (1.9) and the last section of finger joint (1.11)；Several finger joints successively pass through hinge from beginning to end
(1.6) it connects, the fore paw palm (3) of the last section of finger joint (1.11) and fore paw (1) is hinged；
The structure of the rear solid end (12) is identical as the structure of fore paw (1), the structure of the rear solid end palm (13) and the knot of the fore paw palm (3)
Structure is identical, and the structure of the rear solid end clamp system (14) is identical as the structure of fore paw clamp system (4).
2. the cable inspection maintaining robot according to claim 1 with flexible two-pawl structure, it is characterised in that: institute
Stating fore paw clamp system (4) includes driving motor interconnected (4.1) and drive shaft (4.3).
3. the cable inspection maintaining robot according to claim 2 with flexible two-pawl structure, it is characterised in that: institute
State draught line fixed point (1.4) arranged up and down there are two setting in fore paw first segment (1.3), each draught line fixed point (1.4)
A draught line (1.10) is fixed, the draught line (1.10) includes inside draught line (1.10.1) and outside draught line
The end of (1.10.2), the inside draught line (1.10.1) are fixed in the outer circle of drive shaft (4.3), the outside draught line
(1.10.2) is fixed on drive shaft (4.3) with opposite rotation direction, and drive shaft (4.3) can drive inside to different directions rotation
Draught line (1.10.1) and outside draught line (1.10.2) are tightened and are loosened respectively.
4. the cable inspection maintaining robot according to claim 1 with flexible two-pawl structure, it is characterised in that: institute
State the connecting line segment between the axis of rotation of the hinge (1.6) of each finger joint front end and the axis of rotation of the hinge (1.6) of rear end
Two sides be each provided with two pin shafts (1.5), the axis of the pin shaft (1.5) is parallel with the axis of rotation of hinge (1.6), described
Pin shaft (1.5) is fixed in finger joint；The radius of the pin shaft (1.5) is less than the center of circle of pin shaft between two hinge axis of rotation hearts
The distance of connecting line segment.
5. the cable inspection maintaining robot according to claim 4 with flexible two-pawl structure, it is characterised in that: institute
The distance for stating the center of circle to the connecting line segment between the axis of rotation of two hinges (1.6) of pin shaft (1.5) subtracts pin shaft (1.5) radius
Equal to the radius of the outer circle of hinge axis.
6. the cable inspection maintaining robot according to claim 4 with flexible two-pawl structure, it is characterised in that: institute
The line for stating the draught line fixed point (1.4) on fore paw first segment (1.3) and the axle center of pin shaft (1.5) is parallel to the company of hinge axis
Line.
7. the cable inspection maintaining robot according to claim 4 with flexible two-pawl structure, it is characterised in that: each
In a finger joint, at least arrange that a diameter is greater than 1.00108 ~ 8.18 times of hinge outside diameter on two hinge circle center line connectings
Big pin shaft (1.7).
8. the cable inspection maintaining robot according to claim 1 with flexible two-pawl structure, it is characterised in that: institute
Fore paw rack (10) are stated equipped with fore paw folding and unfolding lead screw (6), the fore paw folding and unfolding lead screw (6) one end and fore paw folding and unfolding driving motor
(11) it connects, cable climbing driving motor (7) is provided with by fore paw folding and unfolding nut (8) on the fore paw folding and unfolding lead screw (6)；After described
It is equipped with cable climbing driving lead screw (17) between pawl rack (15) and cable climbing driving motor (7) to connect, the cable climbing drives lead screw (17)
One end by drive nut (16) connect with rear solid end rack (15), set between the rear solid end rack (15) and fore paw rack (10)
There are angular locating rod (9).
9. a kind of application method of the cable inspection maintaining robot described in claim 1 with flexible two-pawl structure,
It is characterized in that, comprising the following steps:
S1, first the cable inspection maintaining robot with flexible two-pawl structure is moved near the cable to be safeguarded (2)
Proper orientation, fore paw and flexible rear solid end are all in relaxed state；
S2, fore paw is sent into from the side of cable (2), drive shaft (4.3) is according to the instruction of driving motor (4.1) to different directions
Rotation can drive inside draught line (1.10.1) and outside draught line (1.10.2) to tighten and loosen respectively, unclamp outer side-lining
Line (1.10.2) tenses inside draught line (1.10.1), and fore paw (1) will be bent towards cable (2), and cable of holding with a firm grip (2),
On the contrary, unclamping the draught line close to cable (2), the draught line far from cable (2) is tensed, fore paw (1) will leave cable (2)
It stretches, and unclamps cable (2)；
S3, flexible rear solid end and cable (2) keep disengaged condition, and cable climbing driving motor (7) drives according to intelligent order-driven cable climbing
Dynamic lead screw (17) rotate in the forward direction, and cable climbing drives lead screw (17) to pull and the driving in the rear solid end rack (15) of its worm drive cooperation
Nut (16) is close to fore paw (1), to drive rear solid end (12) close to fore paw (1), rear solid end (12), which reaches designated position, to be stopped and lead to
It crosses and holds that (the identical mode of 2 mode holds cable (2) with a firm grip to cable with a firm grip with fore paw (1)；
S4, fore paw unclamp cable (2) and keep disengaged condition, and cable climbing driving motor (7) drives silk according to intelligent order-driven cable climbing
Thick stick (17) reversely rotates, and cable climbing drives lead screw (17) to push and the driving nut (16) in the rear solid end rack of its worm drive cooperation
Far from fore paw, to drive flexible rear solid end far from fore paw；Since flexible rear solid end and cable (2) are held with a firm grip fixation, fore paw is opposite
It travels forward in cable (2) and reaches that designated position stops and identical mode is held with a firm grip cable (2) by way of with second step, it is real
It now climbs etc. and to be directed toward the purpose that next Seeding location travels forward；So circulation, robot just transports forward along cable (2)
It is dynamic；Fore paw is recycled close to flexible rear solid end, flexible rear solid end far from fore paw when return.
10. a kind of user of the cable inspection maintaining robot according to claim 9 with flexible two-pawl structure
Method, which is characterized in that
When the front of fore paw finds obstacle, step 1: fore paw unclamps cable (2), fore paw folding and unfolding driving motor (11), according to intelligence
It can instruct and determine stroke parameter and path, to avoid obstacle or the cable that should not be held with a firm grip (2) surface, reversely rotate driving fore paw
Folding and unfolding lead screw (6)；The fore paw folding and unfolding nut (8) that fore paw folding and unfolding lead screw (6) driving is cooperatively connected with its screw is towards close
The direction of cable (2) moves, and drives the rear solid end bracket (15) that is fixedly connected with fore paw folding and unfolding nut (8) towards close to cable (2)
Mobile, since flexible rear solid end is held with a firm grip on cable (2), fore paw, which is retracted, exits cable (2)；Step 2: cable climbing driving motor
(7) it is instructed according to intelligence and determines stroke parameter and path, climbed with avoiding obstacle or the cable that should not be held with a firm grip (2) surface, driving
Rope drives lead screw (17) and driving nut (16) movement, drives fore paw to travel forward and surmounts obstacles；It is accessible to reach intelligent predicting
Position, detect whether it is faulty, if it is still faulty; would continually look for not having faulty position；Step 3: detection confirms true nothing
After obstacle, fore paw folding and unfolding driving motor (11), fore paw folding and unfolding lead screw (6) and fore paw folding and unfolding nut (8) driving rear solid end bracket (15)
It moves inward, fore paw is released to the position for cable (2) that are suitble to hold with a firm grip；
It is identical as the avoidance mode of fore paw when the front of flexible rear solid end finds obstacle, it is fore paw folding and unfolding driving motor (11), preceding
Pawl folding and unfolding lead screw (6) and fore paw folding and unfolding nut (8) driving rear solid end bracket (15) are mobile away from the direction of cable (2), bendable
Bent rear solid end, which is retracted, exits cable (2), in cable climbing driving motor (7), the drive of cable climbing driving lead screw (17) and driving nut (16)
It surmounts obstacles under dynamic, then after fore paw folding and unfolding driving motor (11), fore paw folding and unfolding lead screw (6) and fore paw folding and unfolding nut (8) driving
Pawl bracket (15) is mobile towards cable (2), and flexible rear solid end is released to the position for cable (2) that are suitble to hold with a firm grip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811333078.XA CN109371831A (en) | 2018-11-09 | 2018-11-09 | Cable inspection maintaining robot and its application method with flexible two-pawl structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811333078.XA CN109371831A (en) | 2018-11-09 | 2018-11-09 | Cable inspection maintaining robot and its application method with flexible two-pawl structure |
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| Publication Number | Publication Date |
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| CN109371831A true CN109371831A (en) | 2019-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811333078.XA Pending CN109371831A (en) | 2018-11-09 | 2018-11-09 | Cable inspection maintaining robot and its application method with flexible two-pawl structure |
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| CN207104932U (en) * | 2017-12-27 | 2018-03-16 | 陈豪翔 | The manipulator driven by reducing motor |
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|---|---|---|---|---|
| CN202593669U (en) * | 2012-04-06 | 2012-12-12 | 上海电机学院 | Connecting rod type pole-climbing robot |
| US20140208976A1 (en) * | 2013-01-29 | 2014-07-31 | Korea Institute Of Science And Technology | Driving wheel of robot moving along the wire and robot having the same |
| CN104129447A (en) * | 2014-07-08 | 2014-11-05 | 南京工程学院 | Power transmission tower climbing robot and power transmission tower routing inspection mode thereof |
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