A rope crawling robot and its excitation method

Abstract

The present application relates to the field of special robots, and more specifically, to a rope crawling robot and its excitation method, wherein the rope crawling robot comprises: a frame; an elastic body in the shape of a long strip, horizontally arranged on the frame; two groups of piezoelectric sheets; two guide mechanisms, both mounted on the frame, respectively arranged on the front and rear sides of the elastic body; the first piezoelectric sheet and the second piezoelectric sheet are used to generate Y-direction vibration and X-direction vibration respectively when an alternating current signal is connected, so that a composite vibration is generated in the middle of the elastic body to perform elliptical motion. The rope crawling robot of the present application can solve the problem that the existing rope robots cannot have the advantages of simple structure, small size, small mass, fast response and high motion accuracy, and has the advantages of simple structure, small size, small mass, fast response and high motion accuracy.

Description

Technical Field

[0001] The present application relates to the field of special robots, and in particular, to a rope-climbing robot and an excitation method thereof. Background Art

[0002] A rope robot is a special robot that can carry related equipment and crawl on a rope to perform high-altitude and long-distance operations. Its main function is to move along the rope in an aerial working environment to replace people to complete tasks such as inspection, taking pictures, delivering objects, cleaning, and spraying. Existing rope robots are generally driven by pneumatic drive, hydraulic drive, or electromagnetic motor drive. However, the pneumatically driven rope robot has a complex structure, low precision, and slow response. The hydraulically driven rope robot is large in size, heavy in mass, and slow in response. The electromagnetic motor drive method relies on transmission components. The rope robot driven by this method has many mechanisms and is large in size. Therefore, the existing rope robots cannot have the advantages of simple structure, small size, small mass, fast response, and high motion accuracy.

[0003] Therefore, the existing technology needs to be improved and developed. Summary of the invention

[0004] The purpose of the present application is to provide a rope crawling robot and an excitation method thereof, aiming to solve the problem that the existing rope robots cannot have the advantages of simple structure, small size, small mass, fast response and high motion accuracy.

[0005] In a first aspect, the present application provides a rope crawling robot, comprising:

[0006] frame;

[0007] The elastic body is in the shape of a long strip and is horizontally arranged on the frame, wherein a first groove is provided in the middle thereof and abuts against the top or bottom of the rope;

[0008] Two groups of piezoelectric sheets are respectively arranged at two ends of the elastic body;

[0009] Two guide mechanisms, both mounted on the frame and connected to the rope, are respectively arranged at the front and rear sides of the elastic body, and are used for guiding the frame by rope traction;

[0010] Each piezoelectric sheet group includes a first piezoelectric sheet and a second piezoelectric sheet. The first piezoelectric sheet and the second piezoelectric sheet are used to generate Y-direction vibration and X-direction vibration respectively when an alternating current signal is connected, so that the middle part of the elastic body generates a composite vibration to perform an elliptical motion.

[0011] The rope crawling robot proposed in the present application has a streamlined structure, small size, small mass, and is suitable for ropes of various different materials; and the rope crawling robot of the present application has a simple control method, fast response, high precision, and is suitable for a variety of crawling angles; in addition, the present application sets a guide mechanism on the front and rear sides of the elastomer, which can improve the crawling stability of the rope crawling robot; and the rope crawling robot of the present application can achieve self-locking based on the friction between the elastomer and the rope after power failure, which is safe and reliable.

[0012] Optionally, the guiding mechanism comprises:

[0013] A connecting rod, one end of which is mounted on the frame;

[0014] The driven wheel is rotatably connected with the other end of the connecting rod and is arranged at the bottom of the rope when the first groove abuts against the top of the rope, or is arranged at the top of the rope when the first groove abuts against the bottom of the rope.

[0015] Optionally, the frame is rotatably connected to one end of the connecting rod.

[0016] Optionally, the first groove abuts against the bottom of the rope, and the driven wheel is arranged on the top of the rope;

[0017] The rope crawling robot also includes:

[0018] The limiting mechanism is fixedly mounted on the frame and located below the elastic body, and is used to limit the height of the driven wheel.

[0019] In this embodiment, the rope crawling robot of the present application is provided with a limiting mechanism, which can limit the height of the driven wheel to prevent the height of the driven wheel from being too high, and can make the isosceles triangle with the vertex facing upward formed by the first groove and the two driven wheels have a certain height, so that when the rope crawling robot is on the rope, the driven wheel can press the top of the rope and the first groove can press the bottom of the rope, so that the rope crawling robot can be firmly installed on the rope.

[0020] Optionally, the limiting mechanism includes:

[0021] An elastic member has one end mounted on the bottom of the frame and the other end mounted on the connecting rod.

[0022] Optionally, the limiting mechanism includes:

[0023] The limit rod is installed horizontally on the frame.

[0024] In this embodiment, the rope crawling robot of the present application is provided with a limit rod which can mechanically limit the connecting rod when the rope is tight or the rope crawling robot is heavily loaded, thereby enabling the rope crawling robot to be more firmly installed on the rope; and in an embodiment in which the limit mechanism includes an elastic member, the present application can also prevent the elastic member from being overstretched and causing failure and damage of the elastic member.

[0025] Optionally, the first piezoelectric sheet and the second piezoelectric sheet have the same structure, both having a positive terminal and a negative terminal located on the same surface and a dividing line separating the positive terminal and the negative terminal;

[0026] The dividing line in the first piezoelectric sheet is parallel to the rope and perpendicular to the dividing line in the second piezoelectric sheet.

[0027] Optionally, the rope crawling robot further comprises:

[0028] Two hub frames are installed on the frame and are respectively arranged at two ends of the elastic body. The two hub frames and the middle of the elastic body form a second groove, and the depth of the second groove is greater than the depth of the first groove.

[0029] In a second aspect, the present application provides an excitation method for a rope-climbing robot, which is used to control any of the rope-climbing robots as described above to crawl on a rope;

[0030] The excitation method of the rope crawling robot includes the following steps:

[0031] S1. Get crawling direction instruction information;

[0032] S2. Apply an alternating current signal to the piezoelectric sheet group according to the crawling direction command information, so that the first piezoelectric sheet and the second piezoelectric sheet generate Y-direction vibration and X-direction vibration respectively, so that the elastic body generates a composite vibration to perform an elliptical motion, so that the rope crawling robot crawls the rope in the crawling direction corresponding to the crawling direction command information.

[0033] The present application proposes a method for exciting a rope crawling robot, and the excited rope crawling robot has a streamlined structure, small size, small mass, and is suitable for ropes of various different materials; and the rope crawling robot of the present application has a simple control method, fast response, high precision, and is suitable for various crawling angles; in addition, the present application sets a guide mechanism on the front and rear sides of the elastomer, which can improve the crawling stability of the rope crawling robot; and the rope crawling robot of the present application can achieve self-locking based on the friction between the elastomer and the rope after power failure, which is safe and reliable.

[0034] Optionally, the frequency of the alternating current signal used to generate the Y-direction vibration is the same as that of the alternating current signal used to generate the X-direction vibration, and the phase difference is ±π / 2.

[0035] From the above, it can be seen that the present application provides a rope crawling robot and its excitation method, wherein the rope crawling robot has a streamlined structure, small size, small mass, and is suitable for ropes of various different materials; and the rope crawling robot of the present application has a simple control method, fast response, high precision and is suitable for a variety of crawling angles; in addition, the present application sets a guide mechanism on the front and rear sides of the elastomer, which can improve the crawling stability of the rope crawling robot; and the rope crawling robot of the present application can achieve self-locking based on the friction between the elastomer and the rope after power failure, which is safe and reliable.

[0036] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the structure of a rope crawling robot at an angle provided in an embodiment of the present application.

[0038] Figure 2 A schematic diagram of the structure of a rope crawling robot provided in an embodiment of the present application at another angle.

[0039] Figure 3 A schematic diagram of the structure of the elastic body and piezoelectric sheet group provided in an embodiment of the present application.

[0040] Figure 4 A schematic diagram of connecting the piezoelectric sheet group provided in an embodiment of the present application to an alternating current signal.

[0041] Figure 5 Schematic diagram of the positive terminal and negative terminal of the first piezoelectric sheet and the second piezoelectric sheet provided in an embodiment of the present application.

[0042] Figure 6 A schematic diagram of the structure of the first piezoelectric sheet and the second piezoelectric sheet provided in an embodiment of the present application.

[0043] Figure 7 A schematic diagram of the structure of the guide mechanism provided in an embodiment of the present application.

[0044] Figure 8 A flowchart of a method for exciting a rope-climbing robot provided in an embodiment of the present application.

[0045] Explanation of reference numerals: 1. Frame; 11. Positioning clamp; 12. Mounting plate; 2. Elastic body; 21. First groove; 22. Second groove; 3. Piezoelectric sheet group; 31. First piezoelectric sheet; 32. Second piezoelectric sheet; 301. Positive terminal; 302. Negative terminal; 303. Dividing line; 4. Guide mechanism; 41. Connecting rod; 42. Driven wheel; 5. Limiting mechanism; 51. Elastic member; 52. Limiting rod; 6. Hub frame; 7. Positioning shaft. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0047] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0048] First, as Figure 1 , Figure 2 , Figure 3 As shown, the present application provides a rope crawling robot, comprising:

[0049] Rack 1;

[0050] The elastic body 2 is in the shape of a long strip and is horizontally arranged on the frame 1, wherein a first groove 21 is provided in the middle thereof and abuts against the top or bottom of the rope;

[0051] Two groups of piezoelectric sheets 3 are respectively arranged at two ends of the elastic body 2;

[0052] Two guide mechanisms 4, both mounted on the frame 1 and connected to the rope, are respectively arranged at the front and rear sides of the elastic body 2, and are used for guiding the rope traction of the frame 1;

[0053] Each piezoelectric sheet group 3 includes a first piezoelectric sheet 31 and a second piezoelectric sheet 32. The first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​are used to generate Y-direction vibration and X-direction vibration respectively when an AC signal is connected, so that the middle part of the elastic body 2 generates a composite vibration to perform an elliptical motion.

[0054] Specifically, in the present application, "front" and "rear" refer to the two directions in which the rope crawling robot crawls along the rope, Y-direction vibration refers to vibration in the up and down direction, and X-direction vibration refers to vibration in the front and back direction.

[0055] More specifically, when the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​are connected to an AC signal, the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​generate Y-direction vibration and X-direction vibration respectively, and transmit their respective vibrations to the elastic body 2, and the middle part of the elastic body 2 generates a vibration generated by the Y-direction vibration transmitted by the first piezoelectric sheet 31 and the X-direction vibration transmitted by the second piezoelectric sheet 32, that is, a composite vibration, and the middle part of the elastic body 2 moves based on the composite vibration; and according to vibration theory, when the two AC signals applied to the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​have the same frequency and are in phase, When the potential difference is ±π / 2, the motion trajectory of the middle part of the elastic body 2 based on the composite vibration is a Lissajous ellipse, and the elliptical trajectory is coplanar with the motion trajectory of the first piezoelectric plate 31 based on the Y-direction vibration and the motion trajectory of the second piezoelectric plate 32 based on the X-direction vibration. Therefore, the elliptical motion generated in the middle part of the elastic body 2 is similar to the rotation of a wheel, which can make the elastic body 2 move forward or backward. Therefore, only a specific AC signal needs to be applied to the first piezoelectric plate 31 and the second piezoelectric plate 32 to make the middle part of the elastic body 2 move along the rope, so that the elastic body 2 can drive the frame 1 to crawl along the rope. In addition, the two groups of piezoelectric plates 3 are arranged at both ends of the elastic body 2, which can ensure that the direction of the elliptical motion of the middle part of the elastic body 2 remains unchanged.

[0056] More specifically, the guide mechanism 4 is installed on the frame 1 and connected to the rope, so when the elastic body 2 drives the frame 1 to crawl along the rope, the guide mechanism 4 can pull and guide the frame 1 to ensure that its movement direction remains unchanged.

[0057] More specifically, operating devices or detection devices such as cameras, nozzles and robotic arms can be set on the frame 1 as needed, so that the rope crawling robot can be controlled to complete corresponding operations or detection tasks while it is crawling along the rope.

[0058] More specifically, the rope crawling robot of the present application includes fewer components, and has the advantages of simple structure, small size, small mass and applicability to ropes of various different materials; and the present application drives the rope crawling robot based on the elastomer 2 and the piezoelectric sheet, and only needs to apply a specific AC signal to the piezoelectric sheet group 3 to make the rope crawl along the rope, and the rope crawling robot of the present application driven by the AC signal has a strong climbing ability and can overcome the influence of gravity to crawl along an inclined rope. Therefore, the rope crawling robot of the present application has the advantages of simple control method, fast response, high precision and applicability to various crawling angles; in addition, the present application sets a guide mechanism 4 on the front and rear sides of the elastomer 2, which can improve the stability of the rope crawling robot's crawling; and the rope crawling robot of the present application can achieve self-locking based on the friction between the elastomer 2 and the rope after power failure, which is safe and reliable.

[0059] A rope crawling robot of the present application has a streamlined structure, small size, small mass, and is suitable for ropes of various different materials; and the rope crawling robot of the present application has a simple control method, fast response, high precision, and is suitable for various crawling angles; in addition, the present application sets a guide mechanism 4 on the front and rear sides of the elastomer 2, which can improve the crawling stability of the rope crawling robot; and the rope crawling robot of the present application can achieve self-locking based on the friction between the elastomer 2 and the rope after power failure, which is safe and reliable.

[0060] Preferably, the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​are both piezoelectric ceramic sheets.

[0061] Preferably, the rack 1 comprises:

[0062] Two positioning clamps 11 are respectively arranged at two ends of the elastic body 2, and the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​are respectively arranged at two ends of the positioning clamps 11;

[0063] The mounting plate 12 is fixedly mounted on the two positioning clamping plates 11 .

[0064] In this embodiment, the present application sets two positioning clamps 11 and a mounting plate 12, which can achieve the installation of other components of the rope crawling robot and the implementation of load detection equipment or operating equipment without the elastomer 2 and the piezoelectric sheet group 3 contacting other components of the rope crawling robot, thereby preventing the movement of other components, detection equipment or operating equipment of the rope crawling robot from affecting the vibration of the elastomer 2 and the piezoelectric sheet group 3.

[0065] like Figure 7 As shown, in some preferred embodiments, the guide mechanism 4 includes:

[0066] A connecting rod 41, one end of which is mounted on the frame 1;

[0067] The driven wheel 42 is rotatably connected to the other end of the connecting rod 41 and is disposed at the bottom of the rope when the first groove 21 abuts against the top of the rope, or is disposed at the top of the rope when the first groove 21 abuts against the bottom of the rope.

[0068] Specifically, since the position of the driven wheel 42 on the rope is opposite to the position of the first groove 21 on the rope, when the rope crawling robot is set on the rope, the driven wheel 42 and one of the first grooves 21 presses against the top of the rope, and the other presses against the bottom of the rope, and the directions of the forces applied to the rope by both are opposite. Therefore, the two driven wheels 42 and the first groove 21 form an isosceles triangle, so that the rope crawling robot is firmly installed on the rope; and, when the elastomer 2 drives the frame 1 to crawl along the rope, the driven wheel 42 can rotate on the rope to crawl together with the frame 1, thereby realizing its rope traction and guidance for the frame 1.

[0069] In this embodiment, the rope crawling robot of the present application can enable the rope crawling robot to be stably mounted on the rope, thereby improving the stability of the movement of the rope crawling robot and enabling the driven wheel 42 to guide the rope traction of the frame 1.

[0070] In some preferred embodiments, the frame 1 is rotatably connected to one end of the connecting rod 41 .

[0071] In this embodiment, the rope crawling robot of the present application can rotate the connecting rod 41 to make the driven wheel 42 reach the corresponding height when the rope crawling robot needs to be installed on the rope, thereby facilitating the installation of the driven wheel 42 on the rope; and the present application can rotate the connecting rod 41 to store the driven wheel 42 in the frame 1 when the rope crawling robot does not need to be installed on the rope, thereby facilitating the storage of the rope crawling robot.

[0072] Preferably, the rope crawling robot further comprises:

[0073] The positioning shaft 7 is fixedly mounted on the frame 1 and is located below the elastic body 2 . One end of the connecting rod 41 is rotatably connected to the positioning shaft 7 so as to be rotatably connected to the frame 1 .

[0074] In some preferred embodiments, the first groove 21 abuts against the bottom of the rope, and the driven wheel 42 is arranged on the top of the rope;

[0075] The rope crawling robot also includes:

[0076] The limiting mechanism 5 is fixedly mounted on the frame 1 and is located below the elastic body 2 , and is used to limit the height of the driven wheel 42 .

[0077] Specifically, when the rope is tight or the rope crawling robot is heavily loaded, it is easy for the height difference between the driven wheel 42 and the first groove 21 to be small, that is, the height of the isosceles triangle formed by the first groove 21 and the two driven wheels 42 is small, resulting in an unstable installation of the rope crawling robot. Therefore, in this embodiment, the rope crawling robot of the present application is provided with a limiting mechanism 5, which can limit the height of the driven wheel 42 to prevent the height of the driven wheel 42 from being too high, and can make the isosceles triangle with the vertex facing upward formed by the first groove 21 and the two driven wheels 42 have a certain height, so that when the rope crawling robot is on the rope, the driven wheel 42 can press the top of the rope and the first groove 21 can press the bottom of the rope, so that the rope crawling robot can be stably installed on the rope.

[0078] In some preferred embodiments, the limiting mechanism 5 includes:

[0079] The elastic member 51 has one end mounted on the bottom of the frame 1 and the other end mounted on the connecting rod 41 .

[0080] In this embodiment, the rope crawling robot of the present application can tighten the driven wheel 42 when the rope is loose or the load of the rope crawling robot is light, increasing the height difference between the driven wheel 42 and the first groove 21 so that the rope crawling robot can be more firmly installed on the rope; and the rope crawling robot of the present application can further tighten the connecting rod 41 when the rope is tight or the load of the rope crawling robot is heavy, so that the rope crawling robot can be more firmly installed on the rope.

[0081] Preferably, the elastic member 51 is a tension spring.

[0082] In some preferred embodiments, the limiting mechanism 5 includes:

[0083] The limiting rod 52 is horizontally mounted on the frame 1 .

[0084] In this embodiment, the rope crawling robot of the present application is provided with a limit rod 52 which can mechanically limit the connecting rod 41 when the rope is tight or the rope crawling robot is heavily loaded, thereby enabling the rope crawling robot to be more firmly installed on the rope; and in an embodiment where the limit mechanism 5 includes an elastic member 51, the present application can also prevent the elastic member 51 from being overstretched, causing the elastic member 51 to fail and be damaged.

[0085] In some other embodiments, the first groove 21 abuts against the top of the rope, and the driven wheel 42 is disposed at the bottom of the rope;

[0086] The rope crawling robot also includes:

[0087] The limiting mechanism 5 is fixedly mounted on the frame 1 and located above the elastic body 2 , and is used to limit the height of the driven wheel 42 .

[0088] In this embodiment, the rope crawling robot of the present application is provided with a limiting mechanism 5, which can limit the height of the driven wheel 42 to prevent the height of the driven wheel 42 from being too low, and can make the isosceles triangle with the vertex facing downward formed by the first groove 21 and the two driven wheels 42 have a certain height, so that when the rope crawling robot is on the rope, the driven wheel 42 can press against the bottom of the rope and the first groove 21 can press against the top of the rope, so that the rope crawling robot can be firmly installed on the rope.

[0089] Preferably, the limiting mechanism 5 comprises:

[0090] The elastic member 51 has one end mounted on the top of the frame 1 and the other end mounted on the connecting rod 41 .

[0091] More preferably, the elastic member 51 is a compression spring.

[0092] Preferably, the limiting mechanism 5 comprises:

[0093] The limiting rod 52 is horizontally mounted on the frame 1 .

[0094] like Figure 5 and Figure 6 As shown, in some preferred embodiments, the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​have the same structure, both having a positive terminal 301 and a negative terminal 302 located on the same surface and a dividing line 303 separating the positive terminal 301 and the negative terminal 302;

[0095] The boundary line 303 of the first piezoelectric sheet 31 is parallel to the rope and perpendicular to the boundary line 303 of the second piezoelectric sheet 32 ​​.

[0096] In this embodiment, the rope crawling robot of the present application sets the positive terminal 301 and the negative terminal 302 on the same surface of the piezoelectric sheet, which can make the vibration direction of the piezoelectric sheet perpendicular to the central axis of the long elastic body 2. On this basis, the dividing line 303 of the first piezoelectric sheet 31 of the present application is parallel to the rope and perpendicular to the dividing line 303 of the second piezoelectric sheet 32, which can ensure that the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​respectively generate Y-direction vibration and X-direction vibration when connected to an AC signal, so that the middle part of the elastic body 2 can perform elliptical motion based on the piezoelectric sheet group 3 and two specific AC signals to drive the rope crawling robot to crawl along the rope.

[0097] Preferably, in each piezoelectric sheet group 3 , there are two first piezoelectric sheets 31 and two second piezoelectric sheets 32 , the two first piezoelectric sheets 31 have sides opposite to each other with the dividing line 303 , and the two second piezoelectric sheets 32 have sides opposite to each other with the dividing line 303 .

[0098] In some preferred embodiments, the rope crawling robot further comprises:

[0099] Two hub frames 6 are mounted on the frame 1 and are respectively arranged at both ends of the elastic body 2 . A second groove 22 is formed in the middle of the two hub frames 6 and the elastic body 2 . The depth of the second groove 22 is greater than that of the first groove 21 .

[0100] In this embodiment, the rope crawling robot of the present application is provided with hub frames 6 at both ends of the elastic body 2, which can pull and guide the elastic body 2 when the rope crawling robot crawls along the rope, thereby ensuring that the crawling direction of the rope crawling robot remains unchanged.

[0101] Second, as Figure 8 As shown, the present application provides an excitation method for a rope-climbing robot, which is used to control any rope-climbing robot as described above to crawl on a rope;

[0102] The excitation method of the rope crawling robot includes the following steps:

[0103] S1. Get crawling direction instruction information;

[0104] S2. Apply an alternating current signal to the piezoelectric sheet group 3 according to the crawling direction command information, so that the first piezoelectric sheet 31 and the second piezoelectric sheet 32 ​​generate Y-direction vibration and X-direction vibration respectively, so that the elastic body 2 generates a composite vibration to perform an elliptical motion, so that the rope crawling robot crawls the rope in the crawling direction corresponding to the crawling direction command information.

[0105] Specifically, the crawling direction instruction information includes a forward crawling instruction and a backward crawling instruction. By applying a corresponding alternating current signal to the piezoelectric sheet group 3 based on the crawling direction instruction information, the rope crawling robot can be controlled to crawl the rope in the crawling direction corresponding to the crawling direction instruction information.

[0106] The excitation method of the rope crawling robot of the present application is such that the excited rope crawling robot has a simple structure, small size, small mass, and is suitable for ropes of various different materials; and the rope crawling robot of the present application has a simple control method, fast response, high precision, and is suitable for various crawling angles; in addition, the present application sets a guide mechanism 4 on the front and rear sides of the elastomer 2, which can improve the crawling stability of the rope crawling robot; and the rope crawling robot of the present application can achieve self-locking based on the friction between the elastomer 2 and the rope after power failure, which is safe and reliable.

[0107] like Figure 4 As shown, in some preferred embodiments, the AC signal used to generate the Y-axis vibration has the same frequency as the AC signal used to generate the X-axis vibration, and the phase difference is ±π / 2.

[0108] Specifically, in Figure 4In the figure, V1 is a first alternating current signal, which is used to make the first piezoelectric sheet 31 vibrate in the Y direction, and V2 is a second alternating current signal, which is used to make the second piezoelectric sheet 32 ​​vibrate in the X direction. In one embodiment, when the first piezoelectric sheet 31 is connected to the first alternating current signal V1, and the second piezoelectric sheet 32 ​​is connected to the second alternating current signal V2, and the first alternating current signal V1 and the second alternating current signal V2 have the same frequency and a phase difference of π / 2, a composite vibration is generated in the middle of the elastic body 2 to perform an elliptical motion, so that the elastic body 2 drives the frame 1 to crawl along the rope, and the elliptical motion direction of the middle of the elastic body 2 in this embodiment is taken as the first elliptical motion direction, and the direction in which the elastic body 2 drives the frame 1 to crawl along the rope in this embodiment is taken as the first crawling direction; in another ... When the frequency of the AC signal V2 is the same and the phase difference is -π / 2, a composite vibration is generated in the middle part of the elastomer 2 to perform elliptical motion, so that the elastomer 2 drives the frame 1 to crawl along the rope. The elliptical motion direction of the middle part of the elastomer 2 in this embodiment is taken as the second elliptical motion direction, and the direction in which the elastomer 2 drives the frame 1 to crawl along the rope in this embodiment is taken as the second crawling direction. Then the first elliptical motion direction and the second elliptical motion direction are opposite, and the first crawling direction is opposite to the second crawling direction; therefore, in this embodiment, the excitation method of the rope crawling robot of the present application only needs to set the phase difference of the two AC signals according to the crawling direction command information, so that the rope crawling robot can crawl the rope in the crawling direction corresponding to the crawling direction command information.

[0109] From the above, it can be seen that the present application provides a rope crawling robot and its excitation method, wherein the rope crawling robot has a streamlined structure, small size, small mass, and is suitable for ropes of various different materials; and the rope crawling robot of the present application has a simple control method, fast response, high precision and is suitable for a variety of crawling angles; in addition, the present application sets a guide mechanism 4 on the front and rear sides of the elastomer 2, which can improve the crawling stability of the rope crawling robot; and the rope crawling robot of the present application can achieve self-locking based on the friction between the elastomer 2 and the rope after power failure, which is safe and reliable.

[0110] In the embodiments provided in the present application, it should be understood that, herein, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0111] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A rope crawling robot, It is characterized in that include: Rack(1); The elastic body (2) is in the shape of a long strip and is horizontally arranged on the frame (1), wherein a first groove (21) is provided in the middle thereof and abuts against the bottom of the rope; Two groups of piezoelectric sheets (3) are respectively arranged at two ends of the elastic body (2); Two guide mechanisms (4), both mounted on the frame (1) and connected to the rope, respectively arranged on the front and rear sides of the elastic body (2), and used for guiding the frame (1) by rope pulling; Each group of the piezoelectric sheets (3) comprises a first piezoelectric sheet (31) and a second piezoelectric sheet (32), wherein the first piezoelectric sheet (31) and the second piezoelectric sheet (32) are used to respectively generate Y-direction vibration and X-direction vibration when an alternating current signal is connected, so that a composite vibration is generated in the middle of the elastic body (2) to perform elliptical motion; The guiding mechanism (4) comprises: A connecting rod (41), one end of which is mounted on the frame (1); A driven wheel (42) is rotatably connected to the other end of the connecting rod (41) and is disposed on the top of the rope; The rope crawling robot also includes: A limiting mechanism (5) is fixedly mounted on the frame (1) and is located below the elastic body (2), and is used to limit the height of the driven wheel (42), comprising: An elastic member (51) has one end mounted on the bottom of the frame (1) and the other end mounted on the connecting rod (41).

2. A rope crawling robot according to claim 1, It is characterized in that The limiting mechanism (5) comprises: The limiting rod (52) is horizontally mounted on the frame (1).

3. A rope crawling robot according to claim 1, It is characterized in that The first piezoelectric sheet (31) and the second piezoelectric sheet (32) have the same structure, and both have a positive terminal (301) and a negative terminal (302) located on the same surface, and a dividing line (303) separating the positive terminal (301) and the negative terminal (302); The boundary line (303) of the first piezoelectric sheet (31) is parallel to the rope, and perpendicular to the boundary line (303) of the second piezoelectric sheet (32).

4. A rope crawling robot according to claim 1, It is characterized in that The rope crawling robot also includes: Two wheel hub frames (6) are both mounted on the frame (1) and are respectively arranged at two ends of the elastic body (2); a second groove (22) is formed between the two wheel hub frames (6) and the middle of the elastic body (2); the depth of the second groove (22) is greater than the depth of the first groove (21).

5. A method for motivating a rope-climbing robot. It is characterized in that Used to control the rope-climbing robot as claimed in any one of claims 1 to 4 to crawl the rope; The excitation method of the rope crawling robot comprises the following steps: S1. Obtain crawling direction instruction information; S2. Applying an alternating current signal to the piezoelectric sheet group (3) according to the crawling direction instruction information, so that the first piezoelectric sheet (31) and the second piezoelectric sheet (32) respectively generate Y-direction vibration and X-direction vibration, so that the elastic body (2) generates a composite vibration to perform an elliptical motion, so that the rope crawling robot crawls the rope in the crawling direction corresponding to the crawling direction instruction information.

6. The method for motivating a rope-climbing robot according to claim 5, It is characterized in that The alternating current signal for generating the Y-direction vibration has the same frequency as the alternating current signal for generating the X-direction vibration, and the phase difference is ±π / 2.

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