Method for preventing rope whipping in rope traction

Abstract

A rope traction anti-rope shaking method for a track inspection robot, the track inspection robot comprising a wheel system capable of freely moving on a track, the method comprising the following steps: an assembly step: threading a rope through a central hole of an annular air bag in a cylinder of a rope fixator, and fixing the rope to a sliding plunger at the bottom of the rope fixator; fixing a plurality of springs between the sliding plunger and a fixed base; inserting a protrusion on the sliding plunger into a bottom groove of the cylinder, and then fixing the outer thread of the fixed base with the inner thread of the bottom of the cylinder; an inflation step: inflating the annular air bag to ensure that the inflated annular air bag tightly presses the rope; a fixing step: fixing the rope fixator to the inspection robot. The present application can maximize the elimination of high-frequency vibration caused by the motor.

Description

Technical Field

[0001] This invention relates to a method for preventing rope shaking, and more particularly to a method for preventing rope shaking in rope traction for traction robots. Background Technology

[0002] Inspection robots are classified in many ways, including track-mounted, sling-mounted, walking, and wheeled types. Among these, track-mounted and sling-mounted robots typically use rope traction for power. The traction rope is pulled by a motor-driven reducer. Because the motor's rotation causes high-frequency vibrations in the rope, these vibrations are transmitted to the inspection robot, causing shaking in the robot's camera and imaging systems, and in severe cases, even damaging the robot. Summary of the Invention

[0003] To address the above shortcomings, this invention provides a method for preventing rope shaking. Specifically, this invention adopts the following technical solution:

[0004] A method for preventing rope vibration during rope traction, the method being used on a track-mounted inspection robot, the track-mounted inspection robot including a wheel system capable of free movement on a track, and rope retainers located at the front and rear ends of the inspection robot and below the robot, one end of the rope retainer being fixed to the inspection robot, and the other end being used to fix the traction rope; the method includes the following steps:

[0005] Assembly steps: Pass the rope through the center hole of the annular air bladder inside the cylinder of the rope retainer and fix it to the sliding plunger at the bottom of the rope retainer;

[0006] Multiple springs are fixed between the sliding plunger and the fixed base;

[0007] Insert the protrusion on the sliding plunger into the bottom groove of the cylinder, and then fix the external thread of the fixed base with the internal thread at the bottom of the cylinder.

[0008] Inflation procedure: Inflate the ring-shaped airbag, ensuring that the inflated ring-shaped airbag tightly compresses the rope;

[0009] Securing steps: Secure the rope fastener to the inspection robot.

[0010] Furthermore, the rope fastener is rigidly fixed to the inspection robot.

[0011] Furthermore, the bottom of the cylinder is provided with multiple sliding grooves, which are evenly distributed on the inner wall surface of the cylinder. The outer periphery of the sliding plunger is provided with multiple sliding protrusions, each of which can be fitted into a corresponding sliding groove. Each sliding groove extends upward from the bottom of the cylinder and terminates thereafter, so that the sliding plunger always remains inside the cylinder.

[0012] Furthermore, multiple springs are connected between the fixed base and the sliding plunger. In its natural state, the springs are in a free state, that is, neither tensioned nor compressed.

[0013] Furthermore, the fixed base, spring, and sliding plunger are pre-assembled into a single unit.

[0014] Furthermore, an annular airbag is provided on the inner wall of the cylinder, adjacent to the groove, extending outward; the outer circumferential surface of the annular airbag is fitted with the inner circumferential surface of the cylinder and is pre-fixed; an inflation nozzle is provided on the outer side of the annular airbag near the opening of the cylinder; the annular airbag has a central channel, and the rope extends along the central channel to the bottom of the cylinder to be fixed to the sliding plunger.

[0015] This invention also provides a rope fastener for implementing a method to prevent rope shaking during rope traction. The rope fastener is used on a track-mounted inspection robot, which includes a wheel system capable of free movement on a track. Rope fasteners are located at the front and rear ends of the inspection robot, and below the robot. One end of each rope fastener is fixed to the inspection robot, and the other end is used to secure the traction rope. The rope fastener includes a cylindrical cylinder with multiple grooves evenly distributed on the inner wall of the cylinder at its bottom. It also includes a sliding plunger with a circumference of... The cylinder has multiple sliding protrusions, each of which can fit into a corresponding groove. An internal thread is provided on the inner wall surface at the bottom of the cylinder. It also includes a fixed base with an external thread that engages with the internal thread to fix the fixed base to the cylinder. Multiple springs connect the fixed base and the sliding plunger, and in their natural state, the springs are in a free state. A rope connector is provided on the other side of the sliding plunger. An annular airbag is provided on the inner wall of the cylinder, adjacent to the groove, extending outwards. An inflation nozzle is provided on the outer side of the annular airbag, near the opening of the cylinder.

[0016] Furthermore, the sliding plunger can move back and forth along the groove; each groove extends upward a certain distance from the bottom of the cylinder and terminates therein, so that the sliding plunger always remains inside the cylinder.

[0017] Furthermore, the rope connector is used for a fixed connection with the connecting buckle at the end of the rope.

[0018] Furthermore, the annular airbag is not far from the groove, so it will not hinder the movement of the sliding plunger; the outer circumferential surface of the annular airbag fits against the inner circumferential surface of the cylinder, the annular airbag has a central channel, and the rope extends along the central channel to the bottom of the cylinder to be fixed to the sliding plunger; when air is inflated into the air nozzle, the annular airbag will expand, and the outer wall of the central channel will compress the outer wall of the rope.

[0019] The present invention has the following advantages:

[0020] When the driving rope generates traction, its high-frequency vibration, irregular vibration, and low-frequency swaying (such as low-frequency swaying caused by wind or motor acceleration and deceleration) are greatly eliminated by the multi-dimensional shock absorption of the rope fixation device, thereby avoiding the impact of vibration on the inspection robot's camera. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of an inspection robot using a rope traction method for preventing rope shaking as described in this invention.

[0022] Figure 2 yes Figure 1 Front view of the inspection robot;

[0023] Figure 3 yes Figure 1 A schematic diagram of the rope fixing device for the inspection robot. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1-3 As shown, the rope traction anti-rope vibration method of the present invention is used on a track-type inspection robot 1. The track-type inspection robot 1 includes a wheel system that can move freely on a track. Rope fasteners 2 are provided at the front and rear ends of the inspection robot 1, and below the inspection robot 1. One end of the rope fastener 2 is fixed to the inspection robot 1, for example, through a threaded connection or a rigid connection such as a snap-fit. The other end of the rope fastener 2 is used to fix the traction rope, thereby allowing the traction rope to apply traction force to the rope fastener.

[0026] refer to Figure 3The rope fastener 2 of the present invention includes a cylindrical cylinder 21, with a groove 22 at the bottom of the cylinder 21. Multiple grooves are evenly distributed on the inner wall surface of the cylinder 21. It also includes a sliding plunger 23, with multiple sliding protrusions on its outer periphery. Each sliding protrusion can fit into a corresponding groove 22, thereby allowing the sliding plunger 23 to move back and forth along the groove. Each groove 22 extends upwards from the bottom of the cylinder 21 a certain distance and terminates thereafter, ensuring that the sliding plunger 23 always remains within the cylinder.

[0027] An internal thread is provided on the inner wall surface at the bottom of the cylinder 1. It also includes a fixed base 24, which is provided with an external thread. The external thread engages with the internal thread to fix the fixed base 24 to the cylinder 21.

[0028] Multiple springs 25 are connected between the fixed base 24 and the sliding plunger 23. In their natural state, the springs 25 are in a free state, that is, neither tensioned nor compressed. In use, one end of the spring is first fixed to the fixed base 24, and the other end is fixed to the sliding plunger 23. This fixing can be done by spring clips or by welding. In this way, the fixed base 24, springs 25 and sliding plunger 23 are pre-assembled into a whole.

[0029] A rope connector 26 is provided on the other side of the sliding plunger 23. The rope connector 26 is used to fix the rope to the connecting buckle 27 at the end of the rope 28. The connector 26 and the connecting buckle 27 can take various forms, such as two collars, or a collar and a hook, or any other suitable form.

[0030] An annular airbag 29 is provided on the inner wall of the cylinder 21, adjacent to the slide groove, extending outward. Being adjacent to the slide groove means that the annular airbag 29 is not far from the groove, but it does not obstruct the movement of the sliding plunger 23. The outer circumferential surface of the annular airbag 29 is fitted against the inner circumferential surface of the cylinder 21, using a pre-fixed method. An inflation nozzle 30 is provided on the outer side of the annular airbag 29, near the opening of the cylinder 21. The annular airbag 29 has a central channel, and the rope 28 extends along the central channel towards the bottom of the cylinder 21 to be fixed to the sliding plunger 23. When air is inflated into the inflation nozzle 30, the annular airbag 29 expands, and the outer wall of the central channel compresses the outer wall of the rope 28. Thus, the vibration of the rope 28 is transmitted to the annular airbag 29, where the high-frequency vibration energy is absorbed by the air within.

[0031] Furthermore, when the rope 28 generates traction, it first pulls the sliding plunger 23 outward. The sliding plunger 23 then pulls the fixed base 24 to move via the spring 25. Since the fixed base 24 is fixed to the inspection robot 1, the traction force is transmitted to the inspection robot 1, causing it to move. Due to the presence of the spring 25, the longitudinal vibration generated by the rope 28 is largely offset. When the motor suddenly accelerates or stalls, the resulting vibration is also offset by the spring 25, thus providing a "flexible" traction to the inspection robot, which is beneficial for its smooth operation.

[0032] The present invention can reduce the lateral and longitudinal vibrations of the traction rope by using the rope fixing device 2, so that the external vibrations are greatly canceled out and will not be transmitted to the inspection robot and affect the camera inside.

[0033] The method for preventing rope shaking during rope traction according to the present invention includes the following steps:

[0034] Step 1: Pass the rope 28 through the central hole of the annular airbag 28 inside the cylinder 21.

[0035] Step 2: Secure the connecting buckle 27 of the rope 28 to the connecting piece 26 of the sliding plunger 23.

[0036] Step 3: Fix the spring 25 between the sliding plunger 23 and the fixed base 24.

[0037] Step 4: Insert the protrusion of the sliding plunger 23 into the bottom groove of the cylinder 21, and then fix the external thread of the fixed base 24 with the internal thread of the bottom of the cylinder 21.

[0038] Step 5: Inflate the annular airbag 28 to ensure that the inflated annular airbag 28 tightly compresses the rope.

[0039] Step 6: Secure the rope fastener 2 to the inspection robot.

[0040] Through the above steps, the rope retainer 2 and the rope 28 are tightly connected and fixed to the inspection robot 1. When the motor drives the rope 28 to generate traction, its high-frequency vibration, irregular vibration, and low-frequency swaying (such as low-frequency swaying caused by wind or motor acceleration and deceleration) are greatly eliminated by the multi-dimensional shock absorption of the rope retainer, thereby avoiding the impact of vibration on the camera of the inspection robot.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for preventing rope vibration during rope traction, characterized in that: The method is applied to a track-mounted inspection robot, which includes a wheel system capable of free movement on a track. Rope fasteners are located at the front and rear ends of the inspection robot, and below the robot. One end of each rope fastener is fixed to the inspection robot, and the other end is used to secure a traction rope. The method includes the following steps: Assembly steps: Pass the rope through the center hole of the annular air bladder inside the cylinder of the rope retainer and fix it to the sliding plunger at the bottom of the rope retainer; Multiple springs are fixed between the sliding plunger and the fixed base; Insert the protrusion on the sliding plunger into the bottom groove of the cylinder, and then fix the external thread of the fixed base with the internal thread at the bottom of the cylinder. Inflation procedure: Inflate the ring-shaped airbag, ensuring that the inflated ring-shaped airbag tightly compresses the rope; Securing steps: Secure the rope fastener to the inspection robot.

2. The method for preventing rope vibration during rope traction according to claim 1, characterized in that: The rope anchor is rigidly fixed to the inspection robot.

3. The method for preventing rope vibration during rope traction according to claim 1, characterized in that: The bottom of the cylinder is provided with multiple sliding grooves, which are evenly distributed on the inner wall surface of the cylinder. The outer periphery of the sliding plunger is provided with multiple sliding protrusions, each of which can be fitted into a corresponding sliding groove. Each sliding groove extends upward from the bottom of the cylinder and terminates thereafter, so that the sliding plunger always remains inside the cylinder.

4. The method for preventing rope vibration during rope traction according to claim 1, characterized in that: Multiple springs are connected between the fixed base and the sliding plunger. In their natural state, the springs are in a free state, that is, neither tensioned nor compressed.

5. A method for preventing rope shaking during rope traction according to claim 4, characterized in that: The fixed base, spring, and sliding plunger are pre-assembled into a single unit.

6. The method for preventing rope vibration during rope traction according to claim 1, characterized in that: An annular airbag is provided on the inner wall of the cylinder, close to the groove, extending outward; the outer circumferential surface of the annular airbag is fitted with the inner circumferential surface of the cylinder and is pre-fixed; an inflation nozzle is provided on the outer side of the annular airbag near the opening of the cylinder; the annular airbag has a central channel, and the rope extends along the central channel to the bottom of the cylinder to be fixed to the sliding plunger.

7. A rope fastener for implementing the method of preventing rope vibration during rope traction according to any one of claims 1-6, characterized in that: The rope fixing device is used on a track-type inspection robot. The track-type inspection robot includes a wheel system capable of free movement on a track. Rope fixing devices are located at the front and rear ends of the inspection robot, and below the robot. One end of each rope fixing device is fixed to the inspection robot, and the other end is used to fix a traction rope. The rope fixing device includes: a cylindrical cylinder with multiple grooves evenly distributed on the inner wall of the cylinder at its bottom; and a sliding plunger with multiple sliding protrusions on its outer periphery. All components can be fitted into a corresponding groove. An internal thread is provided on the inner wall surface of the bottom of the cylinder. It also includes a fixed base with an external thread that engages with the internal thread to fix the fixed base to the cylinder. Multiple springs are connected between the fixed base and the sliding plunger; in a natural state, the springs are in a free state. A rope connector is provided on the other side of the sliding plunger. An annular airbag is provided on the inner wall of the cylinder, adjacent to the groove, extending outwards. An inflation nozzle is provided on the outer side of the annular airbag, near the opening of the cylinder.

8. The rope fastener according to claim 7, characterized in that: The sliding plunger can move back and forth along the groove; each groove extends upward from the bottom of the cylinder and terminates therein, so that the sliding plunger always remains inside the cylinder.

9. The rope fastener according to claim 8, characterized in that: The rope connector is used to fix the rope to the end of the rope with a fastener.

10. The rope fastener according to claim 9, characterized in that: The annular airbag is not far from the groove and will not hinder the movement of the sliding plunger; the outer circumferential surface of the annular airbag fits against the inner circumferential surface of the cylinder, the annular airbag has a central channel, and the rope extends along the central channel to the bottom of the cylinder to be fixed to the sliding plunger; when air is inflated into the air nozzle, the annular airbag will expand, and the outer wall of the central channel will squeeze the outer wall of the rope.

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