Dragline climbing robot and dragline enclasping control method
A technology of a robot and a holding device, applied in the field of intelligent robots, can solve the problems of surface damage of the cable and the high production cost of the cable-climbing robot, and achieve the effects of avoiding extrusion damage, reducing production costs and reducing power consumption.
Active Publication Date: 2018-07-17
THE CHINESE UNIV OF HONG KONG SHENZHEN
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Problems solved by technology
[0004] The invention provides a cable-climbing robot and a cable-clamping control method, aiming to solve the problems that the existing cable-climbing robot is easy to damage the surface of the cable and the production cost of the cable-climbing robot is high
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[0048] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.
[0049] See figure 1 , a cable climbing robot provided in the embodiment of the present invention, mainly includes an upper gripping mechanism 10, a lower gripping mechanism 20 and a telescopic moving mechanism 30, and the upper gripping mechanism 10 connects with the lower gripping mechanism through the telescopic moving mechanism 30 20 conn...
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The invention is applicable to the technical field of intelligent robots, and provides a dragline climbing robot and a dragline enclasping control method. The method comprises the steps that the operating mode of a rotating motor is set as a rotating position mode, an output shaft of the rotating motor is driven to rotate, a first preset rotating position is designed as a target position, the output shaft of the rotating motor drives an enclasping device to perform enclasping actions, the relationship between a current rotating position of the rotating motor and the first preset rotating position and the relationship between the current torque of the rotating motor and a target torque are detected, if it is detected that the current rotating position of the rotating motor is equal to the first preset rotating position, the current torque of the rotating motor is not less than the target torque, and the operating mode of the rotating motor is switched to a constant torque mode. Comparedwith the prior art, the dragline climbing robot can eliminate a pressure sensor and a distance measuring sensor by presetting the target position and the target torque, thereby reducing the production cost of the dragline climbing robot.
Description
technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a cable climbing robot and a method for controlling the gripping of cables. Background technique [0002] The development of bridge cable climbing robots was relatively early. It originated in the late 1980s. In the early days, some research institutions in the United States and Europe successively developed bridge cable climbing robots, but there are not many cases of real application in the industry. For the status quo of robot research in my country, bridge robots are still relatively young, especially bridge cable climbing robots, which not only work in harsh and complex environments, but also need to consider the high safety and reliability of long-distance operations, power supply and remote communication. Therefore, no matter in technology or application, the research and application of bridge cable climbing robot is undoubtedly a great challenge. ...
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Login to View More IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 丁宁张爱东黄焕辉张涛
Owner THE CHINESE UNIV OF HONG KONG SHENZHEN