CN111114665A - Cable climbing robot and recovery method - Google Patents
Cable climbing robot and recovery method Download PDFInfo
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- CN111114665A CN111114665A CN202010051569.6A CN202010051569A CN111114665A CN 111114665 A CN111114665 A CN 111114665A CN 202010051569 A CN202010051569 A CN 202010051569A CN 111114665 A CN111114665 A CN 111114665A
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- 238000011084 recovery Methods 0.000 title claims abstract description 19
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- 230000007246 mechanism Effects 0.000 claims abstract description 25
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- 238000000429 assembly Methods 0.000 claims description 12
- 230000009429 distress Effects 0.000 claims description 12
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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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- 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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Abstract
The invention provides a cable climbing robot and a recovery method, and provides the cable climbing robot, which comprises: the docking assembly comprises a first docking part and a second docking part; the driving assembly comprises two driving mechanisms, each driving mechanism comprises a rotating seat, a limiting adjusting structure, a driving wheel and a driving structure, the limiting adjusting structure can fix the rotating seat or limit the rotating angle of the rotating seat, the driving structure is assembled on the rotating seat and connected with the driving wheel, and the driving wheel is driven to rotate by the driving structure. The recovery method is that after a cable climbing robot is used as a rescue robot and is in butt joint with a cable climbing robot with a fault, the cable climbing robot with the fault is pulled back to a recovery position. The cable climbing robot can climb a cable in a straight line, and is convenient and quick to recover when in fault, so that the detection quality and efficiency are improved, and the recovery cost is reduced.
Description
Technical Field
The invention belongs to the technical field of climbing robots, and particularly relates to a cable climbing robot and a recovery method.
Background
The cable is used as an important component of a cable-stayed bridge and a suspension bridge, is exposed in the air for a long time, and under the long-term action of bridge load, rain vibration, wind vibration and the like, a protective layer (polyethylene PE) on the surface of the cable is easy to be damaged by hardening, aging and the like, and steel wire bundles in the cable are easy to be broken, broken and the like, so that the safety of the bridge is endangered, and therefore, the cable is very important to be regularly detected and maintained. In the related art, the cable is detected and maintained by a manual inspection mode, but the manual inspection mode has the disadvantages of large workload, low efficiency, high difficulty and high danger. With the progress of science and technology, the cable detection robot can be used for replacing manual inspection.
The existing cable detection robot cannot ensure that a running mechanism of the robot is completely parallel to the axis of a cable due to error accumulation in aspects of part processing, assembly and the like, so that the cable detection robot is caused to spin around the cable, the detection quality of equipment carried by the cable is influenced, and the cable detection robot cannot return when power failure or mechanical failure occurs when working at high altitude, needs to be retrieved by a person ascending a height, and has the influence on the detection efficiency and high cost.
Disclosure of Invention
The invention aims to provide a cable climbing robot and a recovery method, which can climb a cable in a straight line and can recover conveniently and quickly when a fault occurs, thereby improving the detection quality and efficiency and reducing the recovery cost.
In order to solve the technical problems, the invention provides a cable climbing robot and a recovery method, which comprises the following steps: the device comprises a rack, a docking assembly and at least three groups of driving assemblies, wherein the rack is of an annular structure surrounding a cable; the butt joint assembly comprises a first butt joint part and a second butt joint part which can be in fit connection with the first butt joint part, and the first butt joint part and the second butt joint part are respectively positioned at two ends of the moving direction of the rack; the at least three groups of driving assemblies are arranged around the rack to hold a cable tightly, each group of driving assemblies comprises two driving mechanisms, the two driving mechanisms are respectively arranged at two ends of the motion direction of the rack, each driving mechanism comprises a rotating seat, a limiting adjusting structure, a driving wheel and a driving structure, the rotating seats are rotatably assembled on the rack, the limiting adjusting structures are connected between the rack and the rotating seats, the limiting adjusting structures can fix the rotating seats or limit the rotating angles of the rotating seats, the driving wheels are assembled at the cable side close to the rotating seats, the rotating shafts between the rotating seats and the rack in the same driving mechanism are far away from the rack compared with the rotating shafts between the driving wheels and the rotating seats, and the driving structures are assembled on the rotating seats and connected with the driving wheels, the driving wheel is driven to rotate by the driving structure.
Further, first butt joint portion includes shell fragment, reply piece and two connection pieces, two connection piece settings are in on the rack and form the breach, the one end of shell fragment is rotated and is connected one the tip of connection piece, reply the piece connect this connection piece with between the shell fragment, reply the piece to the shell fragment provides around this connection piece court rotatory elasticity outside the breach, another the one end court of connection piece extend in the breach and form the butt end, the butt end supports and props up the other end of shell fragment is in order to stop the shell fragment is followed turn out in the breach, second butt joint portion is for setting up butt joint ring on the rack.
Further, the driving structure includes: driving motor, shaft coupling, worm and turbine, driving motor's main part fixed mounting is in on the roating seat, the worm rotates the assembly and is in on the roating seat and through the shaft coupling with driving motor's output shaft, the coaxial assembly of turbine is in the drive wheel and with the worm links to each other.
Furthermore, the driving wheel comprises a wheel shaft and two wheel bodies, the wheel shaft is rotatably connected with the rotating seat, the turbine is arranged in the middle of the wheel shaft, and the two wheel bodies are arranged on the wheel shaft and are respectively positioned on two sides of the turbine.
Furthermore, the rack comprises a first enclosing seat and a second enclosing seat, the first enclosing seat is hinged to one side of the second enclosing seat, connecting parts are respectively arranged at corresponding positions of free sides of the first enclosing seat and the second enclosing seat, jacks are formed in the connecting parts, and bolts are inserted in the jacks.
Furthermore, the first enclosing seat and the second enclosing seat respectively comprise a frame body and at least two cover plates, the frame bodies are arranged at two ends of the first enclosing seat and the second enclosing seat in the moving direction, and the cover plates are connected between the corresponding frame bodies.
Further, the rack sets up coupling assembling in order to assemble actuating mechanism, coupling assembling includes mounting, assembly part and regulating part, the one end of mounting is fixed on the rack, the one end of assembly part with the fixed end of mounting is articulated, the regulating part articulate the other end of assembly part and with the free end of mounting links to each other, through the regulating part can adjust the assembly part with the contained angle between the mounting, the roating seat rotate the assembly on the assembly part.
Further, the limiting adjusting structure is arranged between the rotating seat and the assembly part, the limiting adjusting structure comprises a limiting block fixed on the rotating seat and an adjusting screw in threaded connection with the corresponding position of the assembly part, an arc-shaped groove is formed in the side, close to the adjusting screw, of the limiting block and coaxial with the rotating shaft of the rotating seat, a positioning hole matched with the adjusting screw is formed in the bottom of the arc-shaped groove, and the end of the adjusting screw extends into the arc-shaped groove.
Further, the adjusting piece in at least one group of the connecting components is an adjusting screw rod, and the adjusting screw rod is in threaded connection with the fixing piece; at least a set of among the coupling assembling adjusting part includes slide bar, slide cartridge and elastic component, the slide bar with the slide cartridge articulates respectively the assembly part with on the mounting, the slide bar sliding connection be in the slide cartridge, have in the slide cartridge and prevent the barrier structure that the slide bar breaks away from, the elastic component cover is located the slide bar with outside the slide cartridge, the elastic component is the pretension state so that the slide bar with the slide cartridge is towards the elasticity of keeping away from the direction motion mutually.
Further, there is provided a recycling method for recycling the cable climbing robot as defined in any one of the above, comprising: when the cable climbing robot loses power on a cable and becomes a trapped robot, another cable climbing robot is arranged on the cable as a rescue robot, and then the rescue robot is driven to move towards the trapped robot; when the rescue robot is a preset distance away from the trapped robot, judging whether a first butt-joint part of the rescue robot is aligned with a second butt-joint part of the trapped robot or not; if so, driving the rescue robot to move towards the trapped robot until the first butt joint part is in butt joint with the second butt joint part; if not, driving the rescue robot to move towards the direction far away from the trapped robot and rotate around a cable, and driving the rescue robot to move towards the trapped robot until the first butt joint part is in butt joint with the second butt joint part when the first butt joint part of the rescue robot is aligned with the second butt joint part of the trapped robot; and driving the rescue robot to drive the distress robot to move to a recovery position.
Compared with the prior art, the cable climbing robot and the recovery method have the advantages that:
after the rack is installed on the cable, the rotating seat is fixed through the limit adjusting structure for the driving structure at the rear end of the moving direction (the moving direction in the process of detecting the cable) of the rack, and for the driving structure at the front end of the moving direction of the rack, the limit adjusting structure is only used for limiting the rotating angle of the rotating seat, so that the rotating seat at the front end has certain rotating freedom degree relative to the rack; when the cable robot encounters a fault, another cable robot can be dispatched to be connected in a butt joint mode through the first butt joint part and the second butt joint part, and then the cable robot with the fault is pulled back to the recovery position.
Drawings
FIG. 1 is a schematic view of the overall structure of a cable climbing robot in an embodiment of the invention;
FIG. 2 is a force diagram of a drive mechanism of the cable climbing robot in an embodiment of the present invention;
FIG. 3 is a schematic view of the overall structure of the gantry of the cable climbing robot in the embodiment of the present invention;
FIG. 4 is a schematic view of the overall structure of a first drive mechanism of the cable climbing robot in the embodiment of the invention;
FIG. 5 is a first partially exploded view of a second drive mechanism of the cable climbing robot in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural view from another perspective of a second drive mechanism of the cable climbing robot in an embodiment of the present invention;
FIG. 7 is a second partially exploded view of a second drive mechanism of the cable climbing robot in accordance with an embodiment of the present invention;
figure 8 is a docking schematic of a retrieval cable climbing robot in an embodiment of the present invention.
In the drawings, each reference numeral denotes: 10. a rescue robot; 20. a distress robot; 001. a cable climbing robot; 002. a cable; 1. a rack; 11. a first enclosing seat; 12. a second enclosing seat; 13. a connecting assembly; 101. a frame body; 102. a cover plate; 103. a reinforcing bar; 131. a fixing member; 132. an assembly member; 133. an adjustment member; 133a, a slide bar; 133b, a spool; 133c, an elastic member; 2. a docking assembly; 21. a first mating portion; 22. a second docking portion; 211. a spring plate; 212. a recovery member; 213. connecting sheets; 3. a drive assembly; 30. a drive mechanism; 31. a rotating base; 32. a limiting and adjusting structure; 33. a drive wheel; 34. a drive structure; 321. a limiting block; 322. an adjusting screw; 331. a wheel axle; 332. a wheel body; 341. a drive motor; 342. a coupling; 343. a worm; 344. a turbine; 3211. an arc-shaped slot; 3212. and (7) positioning the holes.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example (b):
in the present embodiment, as shown in fig. 1 to 8, there is provided a cable climbing robot 001 including: the device comprises a rack 1, a butt joint assembly 2 and at least three groups of driving assemblies 3, wherein the rack 1 is in an annular structure surrounding a cable 002; the docking assembly 2 comprises a first docking part 21 and a second docking part 22 which can be in adaptive connection with the first docking part 21, wherein the first docking part 21 and the second docking part 22 are respectively positioned at two ends of the moving direction of the rack 1; at least three groups of driving components 3 are arranged around the rack 1 to hold the cable 002 tightly, each group of driving components 3 comprises two driving mechanisms 30, the two driving mechanisms 30 are respectively arranged at two ends of the rack 1 in the moving direction, the driving mechanisms 30 comprise a rotating seat 31 and a limit adjusting structure 32, the rotary seat 31 is rotatably assembled on the rack 1, the limit adjusting structure 32 is connected between the rack 1 and the rotary seat 31, the limit adjusting structure 32 can fix the rotary seat 31 or limit the rotation angle of the rotary seat 31, the driving wheel 33 is assembled on the side, close to the cable 002, of the rotary seat 31, the rotary shaft between the rotary seat 31 and the rack 1 in the same driving mechanism 30 is far away from the rack 1 than the rotary shaft between the driving wheel 33 and the rotary seat 31, the driving structure 34 is assembled on the rotary seat 31 and connected with the driving wheel 33, and the driving wheel 33 is driven to rotate by the driving structure 34.
After the table frame 1 is mounted on the cable 002, with respect to the driving structure 34 at the rear end of the moving direction of the table frame 1 (the direction in which the cable 002 moves during detection), the rotary base 31 is fixed by the limit adjusting structure 32, for the driving structure 34 at the front end of the moving direction of the rack 1, the rotation angle of the rotating base 31 is limited only by the limit adjusting structure 32, so that the rotating base 31 at the front end has a certain degree of freedom of rotation relative to the rack 1, when the driving structure 34 drives the corresponding driving wheel 33 to move, if the driving wheel 33 at the front end has an angle with the axis of the cable 002, so that the driving force has an angle with the axis of the cable 002, since the rotating shaft between the rotating base 31 and the rack 1 is positioned at the front side of the rotating shaft of the front driving wheel 33, the driving force of the front driving wheel 33 can generate a component force to return to a state parallel to the axis of the cable 002, so as to ensure the linear climbing of the cable 002 robot; when the cable 002 robot encounters a fault, another cable 002 robot can be dispatched to be connected in a butt joint mode through the first butt joint part 21 and the second butt joint part 22, and then the cable 002 robot with the fault is pulled back to the recovery position.
In this embodiment, install determine module, wireless communication subassembly and power etc. on the rack 1, determine module can be camera, ultrasonic detector etc. and wireless communication subassembly can conveniently transmit detected signal and control signal, and the power is used for the power supply, and linear motion can improve determine module's positioning accuracy is done to cable climbing robot 001, reduces the degree of difficulty that later stage testing result handled, improves detection efficiency and quality.
As shown in fig. 3, the rack 1 includes a first enclosure seat 11 and a second enclosure seat 12, one side of the first enclosure seat 11 and one side of the second enclosure seat 12 are hinged, the corresponding positions of the free sides of the first enclosure seat 11 and the second enclosure seat 12 are respectively provided with a connecting portion, the connecting portions are all provided with jacks, and pins are inserted in the jacks. The first enclosing seat 11 and the second enclosing seat 12 both include a frame body 101 and at least two cover plates 102, the frame bodies 101 are disposed at two ends of the first enclosing seat 11 and the second enclosing seat 12 in the moving direction, and the cover plates 102 are connected between the corresponding frame bodies 101. In this embodiment, first enclose and enclose seat 11 and second and enclose seat 12 and all include two frameworks 101, framework 101 all has three isometric frame strips, be 120 between the adjacent frame strip, every encloses and closes the seat and has three apron 102, apron 102 lid is established in the frame strip outside that corresponds around, in order to make rack 1's structure more stable, set up stiffener 103 between the frame strip that corresponds around, therefore, first enclose and close seat 11 and second and enclose and open and close between the seat 12, when first enclosed seat 11 and second enclosed seat 12 and close, form regular hexagon's rack 1, can enclose seat 11 and second with the bolt and enclose seat 12 locking this moment, such setting is convenient for install cable climbing robot 001 on cable 002 or take off from cable 002 more. In other embodiments, the frame bodies 101 may each have two, four, five, six, etc. equal-length frame strips, and the angles between adjacent frame strips are equal, so that the first enclosing seat 11 and the second enclosing seat 12 enclose and form the rack 1 in a regular quadrangle, a regular octagon, a regular decagon, a regular dodecagon, etc.; in other embodiments, the frame strips of the frame body 101 of the first surrounding seat 11 and the second surrounding seat 12 may have equal length but different number, and may form a rack 1 of a regular triangle, a regular pentagon, a regular heptagon, and the like; of course, in some cases, the frame strips of the first enclosing seat 11 and the second enclosing seat 12 may not be equal in length, and the number is set according to the actual situation as long as the formed rack 1 can enclose the corresponding cable 002.
The first butt joint part 21 comprises an elastic sheet 211, a restoring piece 212 and two connecting sheets 213, the two connecting sheets 213 are arranged on the rack 1 and form a gap, one end of the elastic sheet 211 is rotatably connected to the end part of one connecting sheet 213, the restoring piece 212 is connected between the connecting sheet 213 and the elastic sheet 211, the restoring piece 212 adopts a spring, the restoring piece 212 provides elastic force for the elastic sheet 211 to rotate around the connecting sheet 213 towards the outside of the gap, one end of the other connecting sheet 213 extends towards the inside of the gap to form a butt joint end, the butt joint end abuts against the other end of the elastic sheet 211 to prevent the elastic sheet 211 from rotating out of the gap, and the second butt joint part 22 is a butt joint ring arranged on the. In this embodiment, the docking assemblies 2 are provided with three groups, the three groups of docking assemblies 2 are equidistantly arranged on the frame 101 of the rack 1, when a cable climbing robot 001 is adopted as the rescue robot 10 to rescue a cable climbing robot 001 with a fault, the first docking portion 21 of the rescue robot 10 aligns to the second docking portion 22 of the fault robot, and then the rescue robot 10 is driven to advance toward the fault robot, when the elastic piece 211 of the first docking portion 21 touches the second docking portion 22, the elastic piece 211 rotates toward the notch under the thrust action of the second docking portion 22, so that the second docking portion 22 enters into the notch of the first docking portion 21, and then the elastic piece 211 blocks the notch under the action of an elastic force, so that the second docking portion 22 is connected into the first docking portion 21, and therefore the rescue robot 10 can pull the fault robot to a recovery position. In other embodiments, the structure of the first docking portion 21 and the structure of the second docking portion 22 may be interchanged.
As shown in fig. 4 to 7, the gantry 1 is provided with a connecting assembly 13 to assemble the driving mechanism 30, the connecting assembly 13 includes a fixing member 131, an assembling member 132 and an adjusting member 133, one end of the fixing member 131 is fixed on the gantry 1, one end of the assembling member 132 is hinged with the fixed end of the fixing member 131, the adjusting member 133 is hinged with the other end of the assembling member 132 and connected with the free end of the fixing member 131, the angle between the assembling member 132 and the fixing member 131 can be adjusted by the adjusting member 133, and the rotary seat 31 is rotatably assembled on the assembling member 132. In the present embodiment, the fixing member 131 is fixed to the frame 101 of the gantry 1 by a screw, and the fitting 132 is located on the side close to the cable 002, so that when the angle between the fitting 132 and the fixing member 131 is adjusted by the adjusting member 133, the distance between the fitting 132 and the cable 002 can be adjusted, and the force with which the driving wheel 33 fitted to the rotary base 31 grips the cable 002 can be adjusted.
The adjusting piece 133 in at least one group of connecting components 13 is an adjusting screw rod, and the adjusting screw rod is in threaded connection with the fixing piece 131; the adjusting member 133 of at least one set of connecting members 13 includes a sliding rod 133a, a sliding barrel 133b and an elastic member 133c, the sliding rod 133a and the sliding barrel 133b are respectively hinged to the mounting member 132 and the fixing member 131, the sliding rod 133a is slidably connected to the sliding barrel 133b, the sliding barrel 133b has a blocking structure for preventing the sliding rod 133a from being disengaged, the elastic member 133c is sleeved outside the sliding rod 133a and the sliding barrel 133b, the elastic member 133c is a spring, and the elastic member 133c is in a pre-tightening state to provide an elastic force for moving the sliding rod 133a and the sliding barrel 133b in a direction away from each other. In the three sets of driving assemblies 3 of the present embodiment, as shown in fig. 4, the adjusting member 133 of one set of driving assemblies 3 is an adjusting screw, as shown in fig. 5-7, the adjusting members 133 of the other two sets of driving assemblies 3 are in the structures of a sliding rod 133a, a sliding cylinder 133b and an elastic member 133c, that is, one set of driving assemblies 3 can adjust the angle between the assembly member 132 and the fixing member 131 by controlling the adjusting screw, thereby adjusting the force of the driving wheel 33 of the driving component 3 tightly holding the cable 002, and the elastic force provided by the elastic component 133c of the other two driving components 3 ensures the force of the driving wheel 33 tightly holding the cable 002, which is equivalent to passively adjusting the driving wheel 33 of the other two driving components 3 through the adjusting screw rod, so that the installation of the cable climbing robot 001 is more convenient and faster, and the cable climbing robot 001 can obtain the buffering of elastic component 133c in the climbing process, and the process of marcing is softer. In other embodiments, the driving assembly 3 may be provided with four groups, five groups, six groups, seven groups, etc. and in an equilateral layout, the adjusting element 133 in the driving assembly 3 may be provided as a structure of an adjusting screw or a slide rod 133a, a slide cylinder 133b and an elastic element 133c as required.
As shown in fig. 6, the driving structure 34 includes: the driving device comprises a driving motor 341, a coupler 342, a worm 343 and a worm wheel 344, wherein the main body of the driving motor 341 is fixedly assembled on the rotating base 31, the worm 343 is rotatably assembled on the rotating base 31 and is connected with the output shaft of the driving motor 341 through the coupler 342, and the worm wheel 344 is coaxially assembled in the driving wheel 33 and is connected with the worm 343; the driving wheel 33 includes a wheel shaft 331 and two wheel bodies 332, the wheel shaft 331 is rotatably connected with the rotary base 31, the worm wheel 344 is disposed in the middle of the wheel shaft 331, the two wheel bodies 332 are disposed on the wheel shaft 331 and respectively located at both sides of the worm wheel 344, and the wheel surfaces of the two wheel bodies 332 are inclined inward, so that the driving wheel 33 is more adapted to the surface of the cable 002.
Spacing regulation structure 32 sets up between roating seat 31 and assembly part 132, and spacing regulation structure 32 is including fixing stopper 321 on roating seat 31 and the adjusting screw 322 of threaded connection at the corresponding position department of assembly part 132, and the arc wall 3211 is seted up to stopper 321's the side that is close to adjusting screw 322, and arc wall 3211 is coaxial with the axis of rotation of roating seat 31, and the locating hole 3212 that matches with adjusting screw 322 is seted up to the bottom of arc wall 3211, and the tip of adjusting screw 322 extends to in the arc wall 3211. Specifically, the limiting block 321 is fixedly assembled on one side of the rotating seat 31 close to the assembly member 132, the arc-shaped groove 3211 is disposed on one side of the rotating shaft of the rotating seat 31 close to the rack 1, the positioning hole 3212 is disposed in the middle of the bottom of the arc-shaped groove 3211, a threaded hole is disposed at a corresponding position of the assembly member 132, the adjusting screw 322 is threadedly assembled in the threaded hole, the end of the adjusting screw 322 can be moved toward or away from the arc-shaped groove 3211 by controlling the rotation of the adjusting screw 322, when the end of the adjusting screw 322 is in the arc-shaped groove 3211 but does not extend into the positioning hole 3212, a certain degree of rotational freedom can be provided between the rotating seat 31 and the assembly member 132, and when the adjusting screw 322 extends into the positioning hole 3212, the rotating seat 31 and the assembly member 132 can be fixed.
In this embodiment, in combination with fig. 8, there is provided a recovery method for recovering a malfunctioning cable climbing robot 001, comprising:
s1, when the cable climbing robot 001 loses power on the cable 002 and becomes the distress robot 20, installing another cable climbing robot 001 as a rescue robot 10 on the cable 002, and then driving the rescue robot 10 to move towards the distress robot 20;
s2, when the rescue robot 10 is a predetermined distance away from the trapped robot 20, determining whether the first docking portion 21 of the rescue robot 10 is aligned with the second docking portion 22 of the trapped robot 20; if yes, the rescue robot 10 is driven to move towards the distress robot 20 until the first butt joint part 21 is in butt joint with the second butt joint part 22; if not, the rescue robot 10 is driven to move in the direction away from the trapped robot 20 and rotate around the cable 002 (since the rotating shaft between the rotating seat 31 and the rack 1 is located on the side of the rotating shaft of the driving wheel 33 away from the rack 1, and the rotating seat 31 has a certain degree of freedom of rotation, when the rescue robot 10 rotates close to the driving wheel 33 of the trapped robot 20, the generated driving force does not make the rescue robot return to the position parallel to the axis of the cable 002, but deflects a certain angle, so as to realize rotation), and when the first butt-joint part 21 of the robot 10 to be rescued is aligned with the second butt-joint part 22 of the trapped robot 20, the rescue robot 10 is driven to move towards the trapped robot 20 until the first butt-joint part 21 is butted with the second butt-joint part 22;
and S3, driving the rescue robot 10 to carry the distress robot 20 to move to the recovery position.
The method for recovering the cable climbing robot 001 is safe and reliable, does not need to adopt a climbing vehicle for taking back, and is low in cost and high in efficiency.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A cable climbing robot, comprising: the device comprises a rack (1), a butt joint assembly (2) and at least three groups of driving assemblies (3), wherein the rack (1) is of an annular structure surrounding a cable (002);
the docking assembly (2) comprises a first docking part (21) and a second docking part (22), the first docking part (21) of one cable climbing robot can be in adaptive connection with the second docking part (22) of the other cable climbing robot, and the first docking part (21) and the second docking part (22) are respectively positioned at two ends of the movement direction of the rack (1);
at least three drive assembly (3) of group encircle rack (1) is arranged in order to hold tightly cable (002), every group drive assembly (3) all include two actuating mechanism (30), two actuating mechanism (30) are installed respectively the both ends of the direction of motion of rack (1), actuating mechanism (30) are including roating seat (31), spacing regulation structure (32), drive wheel (33) and drive structure (34), roating seat (31) rotate the assembly and are in on rack (1), spacing regulation structure (32) are connected rack (1) with between roating seat (31), spacing regulation structure (32) can be fixed roating seat (31) or restriction the turned angle of roating seat (31), drive wheel (33) assembly is in roating seat (31) be close to cable (002) side, in same actuating mechanism (30) roating seat (31) with rotation axis between rack (1) is compared rotation axis between rack (1) Drive wheel (33) with the rotation axis between roating seat (31) is kept away from rack (1), drive structure (34) assemble in roating seat (31) and with drive wheel (33) link to each other, drive wheel (33) by drive structure (34) drive rotates.
2. Cable climbing robot according to claim 1, characterized in that the first docking portion (21) comprises a spring plate (211), a return piece (212) and two connecting pieces (213), the two connecting pieces (213) are arranged on the rack (1) and form a gap, one end of the elastic piece (211) is rotatably connected with the end part of one connecting piece (213), the restoring piece (212) is connected between the connecting piece (213) and the elastic sheet (211), the restoring piece (212) provides elastic force for the elastic sheet (211) to rotate around the connecting piece (213) towards the outside of the gap, one end of the other connecting piece (213) extends towards the inside of the gap to form an abutting end, the abutting end abuts against the other end of the elastic sheet (211) to prevent the elastic sheet (211) from rotating out of the gap, the second butt joint part (22) is a butt joint ring arranged on the rack (1).
3. Cable climbing robot according to claim 1, characterized in that the drive structure (34) comprises: the worm gear mechanism comprises a driving motor (341), a coupler (342), a worm (343) and a worm wheel (344), wherein the main body of the driving motor (341) is fixedly assembled on the rotating base (31), the worm (343) is rotatably assembled on the rotating base (31) and is connected with an output shaft of the driving motor (341) through the coupler (342), and the worm wheel (344) is coaxially assembled in the driving wheel (33) and is connected with the worm (343).
4. The cable climbing robot according to claim 3, wherein the driving wheel (33) comprises a wheel axle (331) and two wheel bodies (332), the wheel axle (331) is rotatably connected with the rotating base (31), the turbine (344) is arranged in the middle of the wheel axle (331), and the two wheel bodies (332) are arranged on the wheel axle (331) and respectively located at two sides of the turbine (344).
5. The cable climbing robot according to claim 1, wherein the gantry (1) comprises a first enclosing seat (11) and a second enclosing seat (12), one side of the first enclosing seat (11) is hinged to one side of the second enclosing seat (12), connecting parts are respectively arranged at corresponding positions of free sides of the first enclosing seat (11) and the second enclosing seat (12), the connecting parts are respectively provided with insertion holes, and insertion pins are inserted in the insertion holes.
6. The cable climbing robot according to claim 5, wherein the first enclosing seat (11) and the second enclosing seat (12) each comprise a frame body (101) and at least two cover plates (102), the frame bodies (101) are arranged at two ends of the first enclosing seat (11) and the second enclosing seat (12) in the moving direction, and the cover plates (102) are connected between the corresponding frame bodies (101).
7. Cable climbing robot according to any of claims 1-6, characterized in that the gantry (1) is provided with a connecting assembly (13) for mounting the driving mechanism (30), the connecting assembly (13) comprising a fixed part (131), a fitting part (132) and an adjusting part (133), one end of the fixed part (131) being fixed to the gantry (1), one end of the fitting part (132) being hinged to the fixed end of the fixed part (131), the adjusting part (133) being hinged to the other end of the fitting part (132) and being connected to the free end of the fixed part (131), the angle between the fitting part (132) and the fixed part (131) being adjustable by means of the adjusting part (133), the swivel (31) being rotatably mounted on the fitting part (132).
8. The cable climbing robot according to claim 7, wherein the limiting and adjusting structure (32) is disposed between the rotating base (31) and the assembly member (132), the limiting and adjusting structure (32) comprises a limiting block (321) fixed on the rotating base (31) and an adjusting screw (322) screwed to a corresponding position of the assembly member (132), an arc-shaped groove (3211) is disposed on a side of the limiting block (321) close to the adjusting screw (322), the arc-shaped groove (3211) is coaxial with a rotation axis of the rotating base (31), a positioning hole (3212) matched with the adjusting screw (322) is disposed at the bottom of the arc-shaped groove (3211), and an end of the adjusting screw (322) extends into the arc-shaped groove (3211).
9. Cable climbing robot according to claim 7, characterized in that the adjusting piece (133) in at least one set of the connecting assemblies (13) is an adjusting screw which is in threaded connection with the fixing piece (131);
the adjusting part (133) in at least one group of the connecting assembly (13) comprises a sliding rod (133a), a sliding cylinder (133b) and an elastic part (133c), the sliding rod (133a) and the sliding cylinder (133b) are respectively hinged to the assembly part (132) and the fixing part (131), the sliding rod (133a) is connected in the sliding cylinder (133b) in a sliding mode, a blocking structure for preventing the sliding rod (133a) from being separated is arranged in the sliding cylinder (133b), the elastic part (133c) is sleeved outside the sliding rod (133a) and the sliding cylinder (133b), and the elastic part (133c) is in a pre-tightening state to provide elastic force for enabling the sliding rod (133a) and the sliding cylinder (133b) to move towards the far-away direction.
10. A method for recovering a cable climbing robot (001) according to any one of claims 1 to 9, comprising:
when the cable climbing robot (001) loses power on the cable (002) and becomes a distress robot (20), another cable climbing robot (001) is installed on the cable (002) as a rescue robot (10), and then the rescue robot (10) is driven to move towards the distress robot (20);
when the rescue robot (10) is a predetermined distance away from the distress robot (20), judging whether a first docking part (21) of the rescue robot (10) is aligned with a second docking part (22) of the distress robot (20); if yes, driving the rescue robot (10) to move towards the distress robot (20) until the first butt joint part (21) is butted with the second butt joint part (22); if not, driving the rescue robot (10) to move towards the direction far away from the trapped robot (20) and rotate around a cable (002), and driving the rescue robot (10) to move towards the trapped robot (20) until the first butt joint part (21) is butted with the second butt joint part (22) of the trapped robot (20) when the first butt joint part (21) of the rescue robot (10) is aligned with the second butt joint part (22) of the trapped robot (20);
and driving the rescue robot (10) to drive the distress robot (20) to move to a recovery position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010051569.6A CN111114665A (en) | 2020-01-17 | 2020-01-17 | Cable climbing robot and recovery method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010051569.6A CN111114665A (en) | 2020-01-17 | 2020-01-17 | Cable climbing robot and recovery method |
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| CN111114665A true CN111114665A (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010051569.6A Pending CN111114665A (en) | 2020-01-17 | 2020-01-17 | Cable climbing robot and recovery method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112026947A (en) * | 2020-08-20 | 2020-12-04 | 中国科学院沈阳自动化研究所 | Obstacle avoidance soft climbing robot |
| CN114435503A (en) * | 2022-03-07 | 2022-05-06 | 重庆工程职业技术学院 | Spiral lifting equipment |
| CN116142338A (en) * | 2021-10-22 | 2023-05-23 | 临颍县爬杆机器人有限公司 | Climbing robot rescue device, rescue climbing robot and climbing robot assembly |
-
2020
- 2020-01-17 CN CN202010051569.6A patent/CN111114665A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112026947A (en) * | 2020-08-20 | 2020-12-04 | 中国科学院沈阳自动化研究所 | Obstacle avoidance soft climbing robot |
| CN112026947B (en) * | 2020-08-20 | 2021-08-13 | 中国科学院沈阳自动化研究所 | Obstacle avoidance soft climbing robot |
| CN116142338A (en) * | 2021-10-22 | 2023-05-23 | 临颍县爬杆机器人有限公司 | Climbing robot rescue device, rescue climbing robot and climbing robot assembly |
| CN114435503A (en) * | 2022-03-07 | 2022-05-06 | 重庆工程职业技术学院 | Spiral lifting equipment |
| CN114435503B (en) * | 2022-03-07 | 2022-12-13 | 重庆工程职业技术学院 | Spiral lifting equipment |
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