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Motion control method of cable robot and cable robot

A motion control and robot technology, applied in the motion control of cable robots, the field of cable robots, can solve problems such as cable surface damage

Active Publication Date: 2021-01-08
SHENZHEN INST OF ARTIFICIAL INTELLIGENCE & ROBOTICS FOR SOC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The climbing motion of a wheeled robot mainly depends on the friction between the driving wheel and the surface of the cable. When using a wheeled robot, if you want to increase the load of the wheeled robot, you must increase the friction between the driving wheel and the cable, that is, the driving wheel The pressure applied to the cable will be high, causing damage to the surface of the cable during the climb

Method used

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  • Motion control method of cable robot and cable robot
  • Motion control method of cable robot and cable robot
  • Motion control method of cable robot and cable robot

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Embodiment Construction

[0060] Embodiments of the present application provide a motion control method of a cable robot and the cable robot, so that the cable robot hardly causes damage to the cable during the movement process.

[0061] see figure 1 , the structural composition of the cable robot in the embodiment of the present application includes:

[0062] The front body, the winding mechanism 103 and the body, wherein the front body includes a first gripping mechanism 101 and a climbing mechanism 102, the body includes a second gripping mechanism 105 and a mechanism 104 for carrying a load, and the winding mechanism 103 is connected by A cord 106 connects the precursor to the body.

[0063] Wherein, the winding mechanism 103 can be arranged on the front body or on the main body. Preferably, the winding mechanism 103 is arranged on the body.

[0064] The climbing mechanism 102 may be a roller, or other mechanism capable of climbing on the cable 200 .

[0065] The first gripping mechanism 101 an...

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Abstract

The embodiment of the invention discloses a motion control method of a cable robot and the cable robot. The cable robot hardly causes damage to a cable in the moving process. According to the embodiment, a load and a climbing mechanism of the cable robot are arranged in a split mode, the load can be borne on a body, the climbing mechanism is arranged on a front body, during movement, the climbingmechanism firstly moves and drives the front body to move, after the front body reaches a designated position, a first holding mechanism of the front body holds a cable tightly, and the body is pulledto move along the cable by withdrawing a connecting rope, so that the movement of the cable robot is realized. When the cable robot moves, the load does not need to be carried to climb, the load onlyneeds to be pulled through the connecting rope after the front body reaches the designated position, and the cable is hardly damaged in the load pulling process.

Description

technical field [0001] The embodiments of the present application relate to the field of equipment control, and in particular to a motion control method of a cable robot and the cable robot. Background technique [0002] During the use of the cable-stayed bridge, the cables will be eroded by the bad environment, resulting in defects such as cracks and corrosion. Cable robots are often used in the field to detect defects in cables. The cable robot can climb on the cable, and at the same time detect whether the cable has defects. Cable robots include wheeled robots and creeping robots. [0003] The wheeled robot carries a load with a certain weight, and the load mainly includes a detection unit for detecting cable defects. The climbing motion of a wheeled robot mainly depends on the friction between the driving wheel and the surface of the cable. When using a wheeled robot, if you want to increase the load of the wheeled robot, you must increase the friction between the dri...

Claims

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Application Information

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IPC IPC(8): F16M11/42B62D57/024B62D57/032E01D19/10
CPCF16M11/425B62D57/024B62D57/032E01D19/106
Inventor 丁宁宋俊霖郑振粮
Owner SHENZHEN INST OF ARTIFICIAL INTELLIGENCE & ROBOTICS FOR SOC
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