CN109371856A - Cable retrieval maintaining robot and its application method with fixed two-pawl structure - Google Patents
Cable retrieval maintaining robot and its application method with fixed two-pawl structure Download PDFInfo
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- CN109371856A CN109371856A CN201811333081.1A CN201811333081A CN109371856A CN 109371856 A CN109371856 A CN 109371856A CN 201811333081 A CN201811333081 A CN 201811333081A CN 109371856 A CN109371856 A CN 109371856A
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- 239000007787 solid Substances 0.000 claims abstract description 101
- 230000009194 climbing Effects 0.000 claims description 47
- 238000001514 detection method Methods 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 4
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- 238000010899 nucleation Methods 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 10
- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 description 8
- 239000004698 Polyethylene Substances 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 239000000725 suspension Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000011241 protective layer Substances 0.000 description 3
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Classifications
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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
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of cable retrieval maintaining robot and its application method with fixed two-pawl structure of the present invention, it includes the identical fore paw of structure and rear solid end, the fore paw palm and the rear solid end palm and fuselage；The fore paw includes the main fore paw being oppositely arranged and secondary fore paw, and the fore paw palm includes that the main fore paw palm that one end is fixedly connected with main fore paw and the secondary fore paw that one end is fixedly connected with secondary fore paw are slapped, and the fore paw palm is equipped with fore paw clamp system；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 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 fields more particularly to a kind of cable with fixed two-pawl structure to retrieve dimension
Protect 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 purpose of the present invention is to overcome the above shortcomings and to provide a kind of cables with fixed two-pawl structure to retrieve maintenance machine
Device people and its application method 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 retrieval maintaining robot with fixed two-pawl structure, it includes the identical fore paw of structure and rear solid end, fore paw
The palm and the rear solid end palm and fuselage；
The fore paw includes the main fore paw being oppositely arranged and secondary fore paw, and the fore paw palm includes what one end was fixedly connected with main fore paw
The secondary fore paw that the main fore paw palm and one end are fixedly connected with secondary fore paw is slapped, and the fore paw palm is equipped with fore paw clamp system；
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 rear solid end palm is equipped with rear solid end clamping structure, the structure and the structure phase of fore paw clamp system of the rear solid end clamp system
Together.
A kind of cable retrieval maintaining robot with fixed two-pawl structure, the main fore paw inside opposite with secondary fore paw
Face is circular shape, and the fore paw is in anchor ear shape.
A kind of cable retrieval maintaining robot with fixed two-pawl structure, the fore paw clamp system includes driving motor
With driving lead screw, the driving motor is connected with driving lead screw one end, and the driving lead screw is arranged by feed screw nut in pair
Fore paw palm.
A kind of cable retrieval maintaining robot with fixed two-pawl structure, the fore paw palm are provided with cap fall prevention
Fore paw clamps leading rod and fore paw clamps secondary guide rod, and the clamping leading rod and the secondary guide rod of fore paw clamping are slapped with secondary fore paw and slided
Connection.
A kind of cable retrieval maintaining robot with fixed two-pawl structure, the fore paw rack are equipped with fore paw folding and unfolding silk
Thick stick, described fore paw folding and unfolding lead screw one end are connected with fore paw folding and unfolding driving motor, pass through fore paw folding and unfolding on the fore paw folding and unfolding lead screw
Nut is provided with cable climbing driving motor.
A kind of cable with fixed two-pawl structure retrieves maintaining robot, the rear solid end rack and cable climbing driving motor it
Between be equipped with cable climbing driving lead screw connection, one end of cable climbing driving lead screw is by driving nut to connect with rear solid end rack.
A kind of cable retrieval maintaining robot with fixed two-pawl structure, sets between the rear solid end rack and fore paw rack
There is angular locating rod.
A kind of application method of the cable retrieval maintaining robot with fixed two-pawl structure, comprising the following steps:
The cable for having fixed two-pawl structure is retrieved maintaining robot and is moved to the cable neighbouring position to be safeguarded by S1, elder generation,
Fore paw and rear solid end are all in open configuration；
S2, fore paw is arranged first to reach the position for cable of holding with a firm grip, fore paw clamp system is according to the drive drive of intelligent order-driven motor
Dynamic lead screw rotates in the forward direction, and driving lead screw is cooperatively connected by the feed screw nut worm drive with secondary fore paw palm, pulls secondary fore paw
The palm clamps leading rod in fore paw and fore paw is clamped and slapped under secondary guide rod guides close to main fore paw, then drives secondary fore paw, accurately leans on
Nearly main fore paw by the parameter of detection control driving motor, adjusts secondary fore paw and main fore paw is held with a firm grip cable thus cable of holding with a firm grip
Strength, so that fore paw be made to hold with a firm grip cable；
S3, rear solid end and cable keep disengaged condition, and cable climbing driving motor is revolved according to intelligent order-driven cable climbing driving lead screw forward direction
Turn, 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 after driving
Close to fore paw, rear solid end reaches designated position to be stopped and holds with a firm grip cable with fore paw identical mode by way of cable of holding with a firm grip pawl；
According to intelligent instruction, driving motor drives driving lead screw to reversely rotate for S4, fore paw clamp system, driving lead screw by with silk
The transmission mating connection of thick stick nut screw pushes the secondary fore paw palm separate in the case where fore paw clamps leading rod and the secondary guide rod guidance of fore paw clamping
The main fore paw palm；To drive secondary fore paw, main fore paw is smoothly left, unclamps cable, passes through next the holding of intelligent measurement decision
The adjustable secondary fore paw of parameter and main fore paw of tight position and its path parameter control driving motor unclamp the joint open of cable, from
And fore paw is made to unclamp cable；
S5, 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
Rear solid end is far from fore paw；Since rear solid end and cable are held with a firm grip fixation, fore paw travels forward relative to cable to be reached designated position and stops simultaneously
Identical mode is held with a firm grip cable by way of with the first step, is realized to climb etc. and is directed toward the mesh that next Seeding location travels forward
's；So circulation, robot just travel forward along cable；Fore paw is recycled close to rear solid end, rear solid end far from fore paw when return；
A kind of application method of the cable retrieval maintaining robot with fixed two-pawl structure, when the front of fore paw finds obstacle
When, start step:
The first step, fore paw unclamp cable, and fore paw folding and unfolding driving motor instructs according to intelligence and determines stroke parameter and path, to keep away
The cable surface opening obstacle or should not holding with a firm grip reversely rotates driving fore paw folding and unfolding lead screw；The driving of fore paw folding and unfolding lead screw and its spiral shell
The fore paw folding and unfolding nut that rotation movement is cooperatively connected is moved towards the direction close to cable, and drive is fixedly connected with fore paw folding and unfolding nut
Rear solid end bracket towards mobile close to cable, since rear solid end is held with a firm grip on cable, fore paw, which is retracted, exits cable；
Second step, cable climbing driving motor instructs according to intelligence and determines stroke parameter and path, to avoid obstacle or should not hold with a firm grip
Cable surface, driving cable climbing driving lead screw and driving nut movement drive fore paw to travel forward and surmounts obstacles；It is pre- to reach intelligence
Survey accessible position, detect whether it is faulty, if it is still faulty; would continually look for not having faulty position；
Third step, detection confirmation really it is accessible after, 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 moves inward, and fore paw is released to the position for the cable that is suitble to hold with a firm grip.
A kind of application method of the cable retrieval maintaining robot with fixed two-pawl structure, when the front of rear solid end finds barrier
Identical as the avoidance mode of fore paw when hindering, fore paw folding and unfolding driving motor, fore paw folding and unfolding lead screw and fore paw folding and unfolding nut drive rear solid end
Bracket is mobile away from the direction of cable, and rear solid end, which is retracted, exits cable, in cable climbing driving motor, cable climbing driving lead screw and drive
It surmounts obstacles under the driving of dynamic nut, then after fore paw folding and unfolding driving motor, fore paw folding and unfolding lead screw and the driving of fore paw folding and unfolding nut
Pawl bracket is mobile towards cable, and rear solid end is released to the position for the cable that is suitble to hold with a firm grip.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is contacted to cable bring friction damage with cable surface, is kept away using fixed two-pawl structure intelligent control, mitigation
Open the obstacle on cable surface.
Detailed description of the invention
Fig. 1 is a schematic structural view of Embodiment 1 of the present invention.
Fig. 2 is that fore paw 1 is held with a firm grip the schematic top plan view of cable state in Fig. 1.
Wherein:
Fore paw 1, secondary fore paw 1.1, main fore paw 1.2, cable 2, the fore paw palm 3, the secondary fore paw palm 3.1, main fore paw slap 3.2, feed screw nut
3.3, fore paw clamp system 4, driving motor 4.1, driving lead screw 4.2, fuselage 5, fore paw folding and unfolding lead screw 6, cable climbing 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, rear solid end slap 13, rear solid end
Clamp system 14, rear solid end rack 15, driving nut 16, cable climbing driving lead screw 17, fore paw clamps leading rod 18, fore paw clamps pair and leads
Bar 19, detection device 20, apparatus for work 21.
Specific embodiment
Embodiment 1:
Referring to Fig. 1-2, a kind of cable retrieval maintaining robot with fixed two-pawl structure of the present invention, it includes fore paw
1, fore paw slaps 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 machine
Frame 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 drive silk
Thick stick 17.
The fore paw 1 includes main fore paw 1.2 and secondary fore paw 1.1, the main fore paw 1.2 inside opposite with secondary fore paw 1.1
Circular shape is preferentially selected in face, and to adapt to the round gabarit of 2 outer surface PE protective layer of cable, therefore fore paw 1 is in anchor ear shape；
The fore paw palm 3 includes the main fore paw palm 3.2 and the secondary fore paw palm 3.1, and the main fore paw slaps 3.2 one end and main fore paw 1.2 is solid
Fixed connection, the pair fore paw are slapped 3.1 one end and are fixedly connected with secondary fore paw 1.1, and the fore paw palm 3 is equipped with fore paw clamp system 4,
The fore paw clamp system 4 includes driving motor 4.1 and driving lead screw 4.2, the driving motor 4.1 and driving lead screw 4.2 1
End is connected, and the driving lead screw 4.2 is arranged on the secondary fore paw palm 3.1 by feed screw nut 3.3；
For reliable operation, it is provided with fore paw clamping leading rod 18 and fore paw clamping pair with cap fall prevention on the fore paw palm 3 and leads
Bar 19, the clamping leading rod 18 and fore paw clamp secondary guide rod 19 and are slidably connected with the secondary fore paw palm 3.1.
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 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.
A kind of application method of cable retrieval maintaining robot with fixed two-pawl structure of the present invention, including with
Lower step:
(1) it is appropriate near the cable 2 to be safeguarded first the cable retrieval maintaining robot with fixed two-pawl structure to be moved to
Orientation, fore paw 1 and rear solid end 12 are all in deployed position；
(2) fore paw 1 is arranged first to reach the rational position for cable 2 of holding with a firm grip, fore paw clamp system 4 is according to intelligent order-driven motor
4.1 drive driving lead screw 4.2 to rotate in the forward direction, and driving lead screw 4.2 with 3.3 spiral of feed screw nut on the secondary fore paw palm 3.1 by passing
It moves and is cooperatively connected, the secondary fore paw palm 3.1 is pulled to clamp under secondary guide rod 19 guides in fore paw clamping leading rod 18 and fore paw close to before master
The pawl palm 3.2 then drives secondary fore paw 1.1, accurately close to main fore paw 1.2, so that cable 2 of holding with a firm grip, passes through detection control driving
The parameter of motor 4.1 adjusts secondary fore paw 1.1 and main fore paw 1.2 and holds with a firm grip the strength of cable 2, so that fore paw 1 be made to hold with a firm grip cable 2；
(3) rear solid end 12 and cable 2 keep disengaged condition, and cable climbing driving motor 7 drives lead screw 17 according to intelligent order-driven cable climbing
It rotates in the forward direction, cable climbing drives lead screw 17 to pull the driving nut 16 in the rear solid end rack 15 cooperated with its worm drive 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 holds with a firm grip by way of cable 2 with fore paw 1
Identical mode is held with a firm grip cable 2；
(4) for fore paw clamp system 4 according to intelligent instruction, driving motor 4.1 drives driving lead screw 4.2 to reversely rotate, and drives lead screw
4.2, by being cooperatively connected with 3.3 worm drive of feed screw nut, push the secondary fore paw palm 3.1 to clamp leading rod 18 and fore paw in fore paw
It is lower far from the main fore paw palm 3.2 to clamp the secondary guidance of guide rod 19；To drive secondary fore paw 1.1, main fore paw 1.2 is smoothly left, is unclamped
Cable 2 can be adjusted by the parameter that next hold with a firm grip position and its path parameter that intelligent measurement determines control driving motor 4.1
Whole pair fore paw 1.1 unclamps the joint open (displacement of namely secondary fore paw 1.1) of cable 2 with main fore paw 1.2, to make fore paw 1
Unclamp cable 2；
(5) fore paw 1 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 1,
To drive rear solid end 12 far from fore paw 1；Since rear solid end 12 and cable 2 are held with a firm grip fixation, fore paw 1 is moved forward to relative to cable 2
Stop up to designated position and identical mode is held with a firm grip cable 2 by way of with second step, realization, which is climbed, etc. is directed toward next work
The purpose that industry position travels forward；So circulation, robot just travel forward along cable 2；Fore paw 1 is close to rear solid end when return
12, rear solid end 12 is recycled far from fore paw 1；
(6) when the front of fore paw 1 finds obstacle, step 1: the release cable 2 of fore paw 1, fore paw folding and unfolding driving motor 11, according to
Intelligence, which instructs, determines stroke parameter and path, to avoid 2 surface of obstacle or the cable that should not be held with a firm grip, reversely rotates driving fore paw
Folding and unfolding lead screw 6；The fore paw folding and unfolding nut 8 that the driving of fore paw folding and unfolding lead screw 6 is cooperatively connected with its screw is towards close to cable 2
Direction movement drives the rear solid end bracket 15 being fixedly connected with fore paw folding and unfolding nut 8 to move towards close to cable 2, due to rear solid end 12
It holds with a firm grip on cable 2, fore paw 1, which is retracted, exits cable 2；Step 2: cable climbing driving motor 7 is instructed according to intelligence determines that stroke is joined
Several 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 1 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 1 is released to the position for the cable 2 that is suitble to hold with a firm grip
It sets；
(7) when the front of rear solid end 12 finds obstacle, fore paw folding and unfolding driving motor 11, fore paw identical as the avoidance mode of fore paw 1
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, and rear solid end 12, which is retracted, to move back
Cable 2 out surmount obstacles under the driving of cable climbing driving motor 7, cable climbing driving lead screw 17 and driving nut 16, and then fore paw is received
Putting driving motor 11, fore paw folding and unfolding lead screw 6 and fore paw folding and unfolding nut 8 drives rear solid end bracket 15 mobile towards cable 2,12 quilt of rear solid end
It 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 with fixed two-pawl structure retrieves maintaining robot, it is characterised in that: it includes before structure is identical
Pawl (1) and rear solid end (12), the fore paw palm (3) and the rear solid end palm (13) and fuselage (5)；
The fore paw (1) includes the main fore paw (1.2) being oppositely arranged and secondary fore paw (1.1), the fore paw palm (3) include one end with
The secondary fore paw palm (3.1) that the main fore paw palm (3.2) and one end that main fore paw (1.2) is fixedly connected are fixedly connected with secondary fore paw (1.1),
The fore paw palm (3) is equipped with fore paw clamp system (4)；
The fuselage (5) is equipped with fore paw rack (10) and rear solid end rack (15), and the fore paw (1) is by the fore paw palm (3) with before
One end of pawl rack (10) is fixedly connected, the fixed company in one end that the rear solid end (12) passes through the rear solid end palm (13) and rear solid end rack (15)
It connects；
The rear solid end palm (13) is equipped with rear solid end clamping structure (14), and the structure and fore paw of the rear solid end clamp system (14) clamp
The structure of mechanism (4) is identical.
2. the cable with fixed two-pawl structure according to claim 1 retrieves maintaining robot, it is characterised in that: described
Main fore paw (1.2) and the opposite medial surface of secondary fore paw (1.1) are circular shape, and the fore paw (1) is in anchor ear shape.
3. the cable with fixed two-pawl structure according to claim 2 retrieves maintaining robot, it is characterised in that: described
Fore paw clamp system (4) includes driving motor (4.1) and drives lead screw (4.2), the driving motor (4.1) and driving lead screw
(4.2) one end is connected, and the driving lead screw (4.2) is arranged on the secondary fore paw palm (3.1) by feed screw nut (3.3).
4. the cable with fixed two-pawl structure according to claim 1 retrieves maintaining robot, it is characterised in that: described
It is provided with the fore paw with cap fall prevention on the fore paw palm (3) and clamps leading rod (18) and the secondary guide rod (19) of fore paw clamping, the clamping master
Guide rod (18) and fore paw clamp secondary guide rod (19) and are slidably connected with the secondary fore paw palm (3.1).
5. the cable with fixed two-pawl structure according to claim 1 retrieves maintaining robot, it is characterised in that: described
Fore paw rack (10) is equipped with fore paw folding and unfolding lead screw (6), and described fore paw folding and unfolding lead screw (6) one end is connected with fore paw folding and unfolding driving electricity
Machine (11) is provided with cable climbing driving motor (7) by fore paw folding and unfolding nut (8) on the fore paw folding and unfolding lead screw (6).
6. the cable with fixed two-pawl structure according to claim 5 retrieves maintaining robot, it is characterised in that: described
It is equipped with cable climbing driving lead screw (17) between rear solid end rack (15) and cable climbing driving motor (7) to connect, the cable climbing drives lead screw
(17) one end is by driving nut (16) to connect with rear solid end rack (15).
7. the cable with fixed two-pawl structure according to claim 1 retrieves maintaining robot, it is characterised in that: described
Angular locating rod (9) are equipped between rear solid end rack (15) and fore paw rack (10).
8. a kind of application method of the cable retrieval maintaining robot with fixed two-pawl structure described in claim 1, special
Sign is, comprising the following steps:
The cable for having fixed two-pawl structure is retrieved maintaining robot and is moved to the cable to be safeguarded (2) position nearby by S1, elder generation
It sets, fore paw (1) and rear solid end (12) are all in open configuration；
S2, fore paw (1) is arranged first to reach the position of cable of holding with a firm grip (2), fore paw clamp system (4) is according to intelligent order-driven electricity
Machine (4.1) drives driving lead screw (4.2) to rotate in the forward direction, and driving lead screw (4.2) is by slapping the feed screw nut on (3.1) with secondary fore paw
(3.3) worm drive are cooperatively connected, and the secondary fore paw palm (3.1) is pulled to clamp secondary guide rod in fore paw clamping leading rod (18) and fore paw
(19) guidance is lower slaps (3.2) close to main fore paw, secondary fore paw (1.1) is then driven, accurately close to main fore paw (1.2), to hold
Tight cable (2) adjusts secondary fore paw (1.1) and main fore paw (1.2) holds with a firm grip cable by the parameter of detection control driving motor (4.1)
The strength of rope (2), so that fore paw (1) be made to hold cable (2) with a firm grip；
S3, rear solid end (12) and cable (2) keep disengaged condition, and cable climbing driving motor (7) drives according to intelligent order-driven cable climbing
Lead screw (17) rotates in the forward direction, and cable climbing drives lead screw (17) to pull and the driving spiral shell in the rear solid end rack (15) of its worm drive cooperation
Female (16) are 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 pass through
Cable (2) are held with a firm grip with fore paw (1) the identical mode of the mode of cable (2) of holding with a firm grip；
According to intelligent instruction, driving motor (4.1) drives driving lead screw (4.2) to reversely rotate for S4, fore paw clamp system (4), drives
Dynamic lead screw (4.2) push the secondary fore paw palm (3.1) to clamp in fore paw and lead by being cooperatively connected with feed screw nut (3.3) worm drive
Guide rod (18) and fore paw clamp secondary guide rod (19) and guide the lower separate main fore paw palm (3.2)；To drive secondary fore paw (1.1), steadily
Ground leaves main fore paw (1.2), unclamps cable (2), next hold with a firm grip position and its path parameter control determined by intelligent measurement
The joint open of cable (2) is unclamped in the adjustable secondary fore paw (1.1) of the parameter of driving motor (4.1) processed and main fore paw (1.2), thus
Fore paw (1) is set to unclamp cable (2)；
S5, fore paw (1) unclamp cable (2) and keep disengaged condition, and cable climbing driving motor (7) drives according to intelligent order-driven cable climbing
Lead screw (17) reversely rotates, and cable climbing drives lead screw (17) to push and the driving nut in the rear solid end rack of its worm drive cooperation
(16) far from fore paw (1), to drive rear solid end (12) far from fore paw (1)；It is preceding since rear solid end (12) and cable (2) are held with a firm grip fixation
Pawl (1) travel forward relative to cable (2) reach designated position stop and identical mode is held with a firm grip by way of with the first step
Cable (2) is realized to climb etc. and is directed toward the purpose that next Seeding location travels forward；So circulation, robot is just along cable
(2) it travels forward；Fore paw (1) is recycled close to rear solid end (12), rear solid end (12) far from fore paw (1) when return.
9. a kind of application method of the cable retrieval maintaining robot with fixed two-pawl structure according to claim 8,
It is characterized in that, starting step when the front of fore paw (1) finds obstacle:
The first step, fore paw (1) unclamp cable (2), fore paw folding and unfolding driving motor (11), according to intelligence instruct determine stroke parameter and
Path reversely rotates driving fore paw folding and unfolding lead screw (6) to avoid obstacle or the cable that should not be held with a firm grip (2) surface；Fore paw folding and unfolding
The fore paw folding and unfolding nut (8) that lead screw (6) driving is cooperatively connected with its screw is moved towards the direction close to cable (2), band
The dynamic rear solid end bracket (15) being fixedly connected with fore paw folding and unfolding nut (8) is moved towards close to cable (2), since rear solid end (12) is held with a firm grip
On cable (2), fore paw (1), which is retracted, exits cable (2)；
Second step, cable climbing driving motor (7) instructs according to intelligence and determines stroke parameter and path, to avoid obstacle or should not hold
Tight cable (2) surface, driving cable climbing driving lead screw (17) and driving nut (16) movement, drive fore paw (1) to travel forward more
Cross obstacle；Reach the accessible position of intelligent predicting, detect whether it is faulty, if it is still faulty; would continually look for not having faulty
Position；
Third step, 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) driving rear solid end bracket (15) moves inward, and fore paw (1) is released to the position for cable (2) that are suitble to hold with a firm grip.
10. a kind of application method of the cable retrieval maintaining robot with fixed two-pawl structure according to claim 9,
It is characterized in that, when the front of rear solid end (12) finds obstacle, fore paw folding and unfolding driving electricity identical as the avoidance mode of fore paw (1)
The direction of machine (11), fore paw folding and unfolding lead screw (6) and fore paw folding and unfolding nut (8) driving rear solid end bracket (15) away from cable (2)
Mobile, rear solid end (12), which is retracted, exits cable (2), in cable climbing driving motor (7), cable climbing driving lead screw (17) and driving nut
(16) it surmounts obstacles under driving, then 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) towards cable (2) is mobile, and rear solid end (12) 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 |
|---|---|---|---|
| CN201811333081.1A CN109371856A (en) | 2018-11-09 | 2018-11-09 | Cable retrieval maintaining robot and its application method with fixed two-pawl structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811333081.1A CN109371856A (en) | 2018-11-09 | 2018-11-09 | Cable retrieval maintaining robot and its application method with fixed two-pawl structure |
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| CN109371856A true CN109371856A (en) | 2019-02-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002324A (en) * | 2019-12-31 | 2020-04-14 | 中国人民解放军92578部队 | Pipe outer wall robot of crawling |
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Application publication date: 20190222 |