A cement pole clamp closing grip force detection device and detection method

Abstract

The present invention is a cement pole clamp closed grip force detection device, the cement pole clamp closed grip force detection device comprises a pressure sensor and a signal control board; the pressure sensors are eight and installed on the inner surface of the cement pole electric clamp claw; the signal control board is installed on the base of the cement pole electric clamp and is wired to the pressure sensor. The present invention measures the pressure value through the pressure sensor, and the signal control board calculates whether the clamping posture of the clamp is normal through the pressure value. The present invention can determine whether the climbing robot is properly clamped to the pole in various climbing postures when performing overhead power distribution line operations.

Description

Technical Field

[0001] The invention relates to a detection device, and in particular to a cement pole clamp closing grip force detection device and a detection method. Background Art

[0002] When working on overhead power distribution lines, climbing robots are often used for climbing operations. The gripper of the climbing robot needs a certain closing grip force so that the climbing robot can hold the pole firmly in various climbing postures, and then climb on the cement pole. If the closing grip force is too small, the climbing robot may fall and be damaged at any time; if the closing grip force is too large, it is easy to cause the gripper to deform or even be damaged. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a cement pole clamp closing grip force detection device for detecting whether the clamping posture of the clamp is normal, so as to ensure the climbing stability of the climbing robot.

[0004] The technical solution adopted by the present invention is:

[0005] A cement pole clamp closing grip force detection device, the cement pole clamp closing grip force detection device comprises a pressure sensor and a signal control board; the pressure sensors are eight and installed on the inner surface of the cement pole electric clamp claw; the signal control board is installed on the base of the cement pole electric clamp and is wired to the pressure sensor.

[0006] Preferably, the pressure sensor is also covered with a buffer rubber pad.

[0007] A method for detection using the above-mentioned cement pole clamp closed grip force detection device: it is characterized in that it includes the following steps: 1. Clamping stage detection, eight pressure sensors 1 measure pressure values ​​and feed back to the signal control board, the signal control board compares the feedback pressure value with one eighth of the clamping force one by one, and if they are not equal, it can be judged that the clamping posture is abnormal; 2. Loading stage detection, eight pressure sensors 1 measure pressure values ​​and feed back to the signal control board, the signal control board subtracts the pressure values ​​fed back by the upper and lower pressure sensors 1, and compares them one by one with the product value of the sine function of one quarter of the clamp and load mass and the inclination angle of the clamp end, and if they are not equal, it can be judged that the clamping posture is abnormal.

[0008] Preferably, the step 2 can also be further verified by adding the pressure values ​​measured by relatively arranged pressure sensors and comparing them one by one with the clamp and half of the load mass. If they are not equal, it can be determined that the clamping posture is abnormal.

[0009] The beneficial effects of the present invention are:

[0010] 1. The present invention measures the pressure value through the pressure sensor, and the signal control board calculates whether the clamping posture of the clamp is normal through the pressure value.

[0011] 2. The present invention can determine whether the climbing robot is properly able to clamp the pole firmly in various climbing postures when performing overhead power distribution line operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the installation position of the present invention;

[0013] Figure 2 and Figure 3 It is a schematic diagram of the principle of the guide clamping stage of the present invention;

[0014] Figure 4 It is a schematic diagram of the principle of the loading stage of the present invention.

[0015] Figure 1 In the figure, 1 is the pressure sensor, 2 is the signal control board, 3 is the clamp, and 4 is the buffer pad. DETAILED DESCRIPTION

[0016] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] like Figure 1 As shown, the present invention is a cement pole clamp closed gripping force detection device, which includes a pressure sensor 1 and a signal control board 2; the pressure sensors 1 are eight and are installed on the inner surface of the clamping jaws of the cement pole electric clamp 3; the signal control board 2 is installed on the base of the cement pole electric clamp 3 and is wired to the pressure sensor 1. In order to prevent the pressure sensor 1 from directly contacting the cement pole, the pressure sensor 1 is also covered with a buffer rubber pad 4.

[0018] like Figure 2-3 As shown, when the climbing robot is on the ground and the gripper 3 grips the round cement pole, this stage is called the gripping stage. In the gripping stage, the eight pressure sensors 1 at a, b, c, and d on the inner side of the gripper 3 are in line contact with the round cement pole, and the eight pressure sensors 1 measure the pressure values ​​in the normal state and posture and feed the pressure values ​​back to the signal control board 2;

[0019] The pressure values ​​measured by the eight pressure sensors 1 are: f1 n 、f1 m 、f2n 、f2 m 、f3 n 、f3 m 、f4 n 、f4 m ;

[0020] Since the gripper 3 is not affected by the gravity of the climbing robot during the gripping stage, the gripping force and the gripping reaction force are balanced. After many experiments, it was found that f1 n =f1 m , f2 n =f2 m , f3 n =f3 m , f4 n =f4 m ; and affected by the outer wall angle α of the holder 3, it is concluded that:

[0021]

[0022] And Δf t n =0;

[0023] Where: F is the clamping force output by the clamp; △f t n It is the difference between the pressure values ​​of the upper and lower sensors, that is, the calibration value.

[0024] It should be noted that in actual use, since the clamp 3 is affected by installation, process and environment, f1 n 、f1 m 、f2 n 、f2 m 、f3 n 、f3 m 、f4 n 、f4 m They just need to be close, not exactly equal; and the calibration value can be approximately equal to 0.

[0025] like Figure 4 As shown, when the climbing robot is climbing, the clamp 3 is subjected to the load generated by the climbing robot, and the clamp 3 will tilt at a certain angle. This stage is called the loading stage. During the tilting process of the clamp 3, since the clamp 3 has the ability of self-locking, it will generate a large reaction force to prevent the clamp from opening outward. As a result, a large contact force is generated between the clamp body and the rod to prevent the climbing robot from continuing to tip over. In this process, the self-locking of the clamp 3 structure ensures that the contact force at the contact point can always be balanced with the external force, and the original clamping force can be regarded as a part of the self-locking force. In the loading stage, the eight pressure sensors 1 on the inside of the clamp 3 measure the pressure value in the climbing posture and feed the pressure value back to the signal control board 2;

[0026] The pressure values ​​measured by the eight pressure sensors 1 are: f1 n’ 、f1 m’ 、f2 n’ 、f2 m’ 、f3 n’ 、f3 m’ 、f4 n’ 、f4 m’ ;

[0027] Since the gripper 3 is subjected to the gravity of the climbing robot during the loading phase, it was found through multiple experiments that f1 n’ <f1 m’ , f2 n’ >f2 m’ , f3 n’ <f3 m’ , f4 n’ >f4 m’ ; And it is found that the clamping force is affected by the mass mg of the clamp 3 and the load and the inclination angle θ of the end of the clamp 3, and it is concluded that:

[0028]

[0029] Where: It is the difference between the pressure values ​​of the upper and lower sensors, that is, the set value.

[0030] It should be noted that in actual use, since the clamp is affected by installation, process and environment, f1 m’ With f3 m’ The sum of f2 n’ With f4 n’ The set value only needs to be close to half of the mass of the clamp and the load, and does not necessarily need to be exactly equal; and the set value can be close to the product of one quarter of the mass of the clamp and the load and the sine function of the inclination angle of the clamp end.

[0031] For cement poles with tapers, since the clamp itself is shaped according to the taper, during the clamping stage, it was found through multiple experiments that f1 n =f1 m , f2 n =f2 m , f3 n =f3 m , f4 n =f4 m , which is the same as the round cement pole; after multiple experiments in the clamping stage, it was found that f1 n’ <f1 m’ , f2 n’ >f2 m’ , f3 n’ <f3 m’ , f4n’ >f4 m’ , still the same as the round cement poles.

[0032] In summary, when the cement pole clamp closing grip force detection device detects the clamp, the detection is divided into two stages.

[0033] 1. During the clamping phase detection, eight pressure sensors 1 measure the pressure values ​​and feed them back to the signal control board 2. The signal control board 2 compares the feedback pressure values ​​with one eighth of the clamping force one by one. If they are not equal, it can be determined that the clamping posture is abnormal.

[0034] Second, during the loading phase, eight pressure sensors 1 measure pressure values ​​and feed them back to the signal control board 2. The signal control board 2 subtracts the pressure values ​​fed back by the upper and lower pressure sensors 1 and compares them one by one with the product values ​​of the clamper 3 and one-fourth of the load mass and the sine function of the inclination angle of the end of the clamper 3. If they are not equal, it can be determined that the clamping posture is abnormal.

[0035] In order to further ensure the accuracy of the test results in the loading stage, the pressure values ​​measured by the relatively arranged pressure sensors can be further added and compared one by one with the clamp and half of the load mass for verification. If they are not equal, it can be judged that the clamping posture is abnormal.

Claims

1. A method for detecting the closed grip force of a cement pole clamp, characterized in that: The cement pole clamp closed grip force detection method is based on a cement pole clamp closed grip force detection device, which includes a pressure sensor and a signal control board; the pressure sensors are eight and are installed on the inner surface of the cement pole electric clamp claw; The signal control board is installed on the base of the cement pole electric clamp and is connected to the pressure sensor by wire; the pressure sensor is also covered with a buffer rubber pad; The cement pole clamp closing grip force detection method comprises the following steps: First, during the clamping phase, eight pressure sensors 1 measure the pressure values ​​and feed them back to the signal control board. The signal control board compares the feedback pressure values ​​with one eighth of the clamping force one by one. If they are not equal, it can be determined that the clamping posture is abnormal; Second, during the loading phase, eight pressure sensors 1 measure the pressure values ​​and feed them back to the signal control board. The signal control board subtracts the pressure values ​​fed back by the upper and lower pressure sensors 1 and compares them one by one with the product of the sine function of the gripper and load mass, one-fourth, and the tilt angle of the gripper end. If they are not equal, it can be judged that the gripping posture is abnormal; The step 2 can also be further verified by adding the pressure values ​​measured by the relatively arranged pressure sensors and comparing them one by one with the clamp and half of the load mass. If they are not equal, it can be determined that the clamping posture is abnormal.

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