A two-degree-of-freedom cable robot based on compound drive technology

Abstract

The invention relates to a two-degree-of-freedom digging line robot based on the combination driving technology. The two-degree-of-freedom digging line robot comprises an upper rotating mechanism, a lower rotating mechanism and a locking speed limiting device, wherein the upper rotating mechanism and the lower rotating mechanism are movably arranged on the upper side and the lower side of a middle driving mechanism. The middle driving mechanism comprises a driving support, an upper driving motor, an upper driving gear, a lower driving motor, a lower driving gear and a plurality of storage batteries. The upper rotating mechanism comprises an upper rotating support, upper rollers are arranged on the upper rotating support, a tension spring is arranged between every two adjacent upper rollers, and the upper rollers are inclined relative to the plane where the driving support is located. The lower rotating mechanism comprises a lower rotating support, lower rollers are arranged on the lower rotating support, tension springs are arranged between the adjacent upper rollers or the adjacent lower rollers, the upper rollers and the lower rollers are inclined relative to the plane where the driving support is located, and the lower rollers are not parallel to the upper rollers. By means of the two-degree-of-freedom digging line robot, any two-degree-of-freedom control over a digging line in the axial direction and the transverse direction can be achieved, the failure falling speed can be limited, and rotation of the two-degree-of-freedom digging line robot around the digging line is limited.

Description

technical field [0001] The invention relates to a two-degree-of-freedom cable robot based on compound drive technology, which can realize linear crawling and rotary crawling on the surface of the cable, and has an automatic speed limit function for falling from a high altitude, and belongs to the field of robots. Background technique [0002] Due to the demand for aesthetics, practicability and economy in the design of industrial buildings, the use of cables is becoming more and more extensive. For example, cable-stayed bridges and cable cars all need to use cables to achieve the stability of the overall structure. During the use of the cable, it bears a large force and is affected by various external forces during use, and the safety requirements of cable-stayed bridges and cable cars are very strict. Once it breaks, it will have very serious consequences. It even endangers human life, so the quality acceptance, maintenance and fault inspection of the cables are particularl...

AI Technical Summary

Problems solved by technology

Maintenance workers and testing equipment weigh hundreds of kilograms in total. This weight acts on the cable, which in itself damages its protective layer; workers work at a height of 100 meters for a long time, and the environment is harsh and inefficient.

As the span of the bridge increases, the length and suspension height of the cables continue to increase. It is more and more difficult and dangerous to use manpower to detect and sample them. As a result, many bridges have not been tested at all since they were built. , greatly increasing the security risks

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