Cable force measuring device of water detection robot

Abstract

The utility model discloses a cable force measuring device of a water detection robot. The cable force measuring device comprises a cable force measuring mechanism which is fixedly assembled on a detection robot body. The cable force measuring mechanism comprises a lower shell fixedly installed on the detection robot body, a traction seat is fixedly connected to the lower shell, and a cable clamp adapter seat is assembled and connected in the traction seat; the traction seat is fixedly connected with a tension sensor, and the wire clamp adapter is hung on the tension sensor; the outer side wall of the wire clamp switching seat and the inner side wall of the traction seat are arranged at an interval; a pin shaft is connected to the wire clamp adapter in a plugging manner; the cable is hung on the pin shaft; the cable force measuring mechanism further comprises a cable clamp placing assembly which is pulled and hung on the pin shaft, and the cable penetrates through the cable clamp placing assembly. According to the structure, the pulling force of the cable pulled and hung on the robot can be monitored in real time, so that the pulling force of the cable can be adjusted in real time, and the robot can work under the optimal tensioning force of the cable.

Description

Technical Field

[0001] The utility model belongs to the technical field of cable force measurement and testing, and in particular relates to a cable force measurement device for a water detection robot. Background Art

[0002] Municipal drainage pipeline construction is divided into several categories, such as pipeline inspection, maintenance, and repair. Some pipeline construction uses inspection and repair robots. Most of the work is done manually. Before these constructions, robots or work tools need to be moved to the bottom of the inspection well for subsequent inspection or repair work.

[0003] When the existing pipeline inspection robot cable car retracts and releases the cable, workers usually do it manually, and the workers cannot accurately judge the state of the cable in the pipeline. Specifically, during the release process, it is impossible to timely judge the tension of the cable, and then judge whether the cable-pulling robot is too tight or too loose, and thus cannot work accurately. If the cable on the robot is too tight, it will seriously interfere with the robot's forward movement.

[0004] When the cable tension cannot be accurately monitored, there is a risk that the robot body may crush the cable if the cable is not reeled in in time during the robot's retraction process.

[0005] Furthermore, after the existing robot is connected to the cable, in order to quickly reel in the cable, the cable wires are very messy during the reeling process, which is not convenient for the next unwinding work. Utility Model Content

[0006] Based on the above background, the purpose of the utility model is to provide a cable force measuring device for a water detection robot.

[0007] In order to achieve the above objectives, the utility model adopts the following technical solutions:

[0008] A cable force measuring device for a water-carrying detection robot, comprising a cable force measuring mechanism fixedly mounted on the detection robot;

[0009] The cable force measuring mechanism comprises a lower shell body fixedly mounted on the detection robot, a traction seat is fixedly connected to the lower shell body, and a wire clamp adapter is assembled and connected inside the traction seat;

[0010] A tension sensor is fixedly connected to the traction seat, and the wire clamp adapter is hung on the tension sensor;

[0011] The outer side wall of the wire clamp adapter is spaced apart from the inner side wall of the traction seat;

[0012] The wire clamp adapter is pluggably connected with a pin shaft; the cable is pulled and hung on the pin shaft;

[0013] The cable force measuring mechanism also includes a wire placement clamp assembly hung on the pin shaft, and the cable passes through the wire placement clamp assembly.

[0014] Preferably, the inner end of the tension sensor is fixedly connected to the fifth wheel and the lower housing;

[0015] The wire clamp adapter seat is pulled and limited on the end of the tension sensor.

[0016] Preferably, a mounting opening is provided on the traction seat, and the wire clamp adapter seat is limited in the mounting opening;

[0017] The front and rear sides of the traction seat are integrally formed with a limiting plate portion, and the wire clamp adapter seat and the limiting plate portion are spaced apart.

[0018] Preferably, a gap of 0.5 mm is maintained between the wire clamp adapter and the limiting plate portion.

[0019] Preferably, the pin passes through one end of the wire clamp adapter and is inserted into the other end;

[0020] The other end of the wire clamp adapter is equipped with a pull ring knob plunger;

[0021] The pull ring knob plunger pin is fixed on the pin shaft.

[0022] Preferably, the wire clamp assembly comprises an end seat, and a wire clamp plate hung on a pin is fixedly connected to the left side wall of the end seat;

[0023] The cables pass through the terminal block.

[0024] Preferably, the inner end of the wire clamp is hung on a pin; and the cable is limited in the wire clamp.

[0025] Preferably, the upper and lower ends of the wire clamp plate are respectively threadedly connected with a plurality of pressing screws for pressing the cables.

[0026] Preferably, a plurality of springs are fixedly connected to the outer side wall of the end seat, and the cables pass through the spring cavities of the springs.

[0027] The utility model has the following beneficial effects:

[0028] 1. An installation opening is provided on the traction seat, and the wire clamp adapter is limited in the installation opening; the front and rear sides of the traction seat are integrally formed with a limit plate portion, and the wire clamp adapter and the limit plate portion are spaced apart. A tension sensor is fixedly connected to the traction seat, and the wire clamp adapter is hung on the tension sensor; the wire clamp adapter is limited on the end of the tension sensor. During the working process, once the wire clamp adapter is subjected to tension, the tension sensor is pulled to measure the tension. In this way, the pulling force of the robot body can be detected immediately and precise adjustment can be achieved. In this way, the pulling force of the robot body can be measured during the working process, and manual control and adjustment can be achieved to ensure that the robot body can work stably and avoid technical problems such as being pulled too tight or too loose.

[0029] 2. By setting up a wire clamp assembly, the cables pass through the wire clamp assembly. Specifically, the cables are placed regularly through the wire clamp assembly to avoid cable friction. Specifically, the wire clamp assembly includes an end seat, and a wire clamp plate hung on a pin is fixedly connected to the left side wall of the end seat 23; the outer end of the cable passes through the through hole on the end seat, and the inner end of the cable is hung on the pin. The cable is limited in the groove of the wire clamp plate. The cable is limited, thereby improving the pulling stability of the cable and facilitating the subsequent regular winding of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 It is a schematic diagram of the overall structure in an embodiment of the utility model;

[0032] Figure 2 This is a structural schematic diagram of a cable force measuring mechanism in an embodiment of the utility model;

[0033] Figure 3 It is a cross-sectional view in an embodiment of the utility model;

[0034] Figure 4 It is a schematic diagram of the structure of the wire clamp assembly connecting the pressing screw in the embodiment of the utility model.

[0035] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0039] Example 1

[0040] like Figure 1-4 As shown, a cable force measuring device for a water detection robot includes a cable force measuring mechanism 2 fixedly mounted on the detection robot 1. The cable force measuring mechanism 2 can effectively detect the tension of the cable 3 hung on the robot 1, and then determine whether the tension of the cable 3 is too large or too small, and adjust the tension of the cable 3 in time.

[0041] The cable 3 force measuring mechanism 2 includes a lower shell 25 fixedly mounted on the detection robot 1 (the lower shell 25 is fixedly mounted on the lower side of the end of the robot using the conventional fastening method disclosed in the prior art), and a traction seat 21 is fixedly connected to the center part of the lower shell 25, and a wire clamp adapter seat 22 is assembled and connected inside the traction seat 21.

[0042] Specifically, the traction seat 21 is provided with an installation opening, and the wire clamp adapter seat 22 is limited in the installation opening; the front and rear sides of the traction seat 21 are integrally formed with a limiting plate portion, and the wire clamp adapter seat 22 and the limiting plate portion are spaced apart, specifically, a gap of 0.5 mm is maintained between the wire clamp adapter seat 22 and the limiting plate portion. The spacing arrangement prevents the wire clamp adapter seat 22 from being affected by the traction seat 21, such as friction, after being pulled.

[0043] A tension sensor 26 is fixedly connected to the traction seat 21, and the wire clamp adapter 22 is hung on the tension sensor 26; specifically, the inner end of the tension sensor 26 is fixedly connected to the traction seat 21 and the lower shell 25; the wire clamp adapter 22 is hung and limited on the end of the tension sensor 26, specifically, the wire clamp adapter 22 is hung in a blocking manner, and the wire clamp adapter 22 is limited on the tension sensor 26.

[0044] During operation, once the wire clamp adapter 22 is subjected to tension, the tension sensor 26 is pulled to measure the tension. In this way, the pulling force of the robot body 1 can be detected immediately to achieve precise adjustment.

[0045] The above-mentioned wire clamp adapter 22 is connected with a pin shaft 23 for plugging and unplugging; the cable 3 is hung on the pin shaft 23; specifically, the pin shaft 23 passes through one end of the wire clamp adapter 22 and is plugged into the other end; the other end of the wire clamp adapter 22 is equipped with a pull ring knob plunger 231; the pull ring knob plunger 231 is pinned to the pin shaft 23 (correspondingly, a pin hole is provided on the pin shaft 23, when the pin shaft 23 passes through one side of the wire clamp adapter 22 to the pin hole pinned on the other end of the wire clamp adapter 22, at this time, the pull ring knob plunger 231 is turned to vertically drop the pin to be pinned to the pin shaft 23).

[0046] Example 2

[0047] like Figure 1-4 As shown, based on the structure of Example 1, the cable 3 force measuring mechanism 2 of this embodiment also includes a placement clamp assembly hung on the pin 23, and the cable 3 passes through the placement clamp assembly. Specifically, the cable 3 is placed regularly through the placement clamp assembly to prevent the cable 3 from rubbing. Specifically, the placement clamp assembly includes an end seat 23, and a wire clamp plate 24 hung on the pin 23 is fixedly connected to the left side wall of the end seat 23; the outer end of the cable 3 passes through the through hole position on the end seat 23, and the inner end of the cable 3 is hung on the pin 23. The cable 3 is limited in the groove of the wire clamp plate 24.

[0048] At the same time, the inner end of the wire clamp plate 24 is hung on the pin shaft 23. Specifically, a mounting hole is opened at the inner end of the wire clamp plate 24 and passes through the pin shaft 23.

[0049] In order to position the cable 3, the upper and lower ends of the clamp plate 24 are respectively threadedly connected with a plurality of pressing screws A for pressing the cable 3. The pressing screws A lower the cable 3, which improves the stability of the cable 3 after being pulled.

[0050] At the same time, the above device limits the cable 3 so that the cable 3 can be reeled regularly during the reeling and unreeling process, and the reeled cable 3 is relatively neat.

[0051] Example 3

[0052] like Figure 1-4 As shown, based on the structure of Example 2, two springs are fixedly connected to the outer wall of the end seat 23, and the cable 3 passes through the spring cavity of the spring. When the cable 3 is observed from the end seat 23, the cable 3 passes through the spring, and under the protection of the spring, the cable 3 is not easy to rub, so the cable 3 is protected.

[0053] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A cable force measuring device for a water detection robot, characterized in that: It includes a cable force measuring mechanism fixedly mounted on the detection robot; The cable force measuring mechanism comprises a lower shell body fixedly mounted on the detection robot, a traction seat is fixedly connected to the lower shell body, and a wire clamp adapter is assembled and connected inside the traction seat; A tension sensor is fixedly connected to the traction seat, and the wire clamp adapter is hung on the tension sensor; The outer side wall of the wire clamp adapter is spaced apart from the inner side wall of the traction seat; The wire clamp adapter is pluggably connected with a pin shaft; the cable is pulled and hung on the pin shaft; The cable force measuring mechanism also includes a wire placement clamp assembly hung on the pin shaft, and the cable passes through the wire placement clamp assembly.

2. The cable force measuring device for a water detection robot according to claim 1 is characterized in that: The inner end of the tension sensor is fixedly connected to the traction seat and the lower shell; The wire clamp adapter seat is pulled and limited on the end of the tension sensor.

3. The cable force measuring device for a water detection robot according to claim 1, characterized in that: The traction seat is provided with an installation opening, and the wire clamp adapter seat is limited in the installation opening; The front and rear sides of the traction seat are integrally formed with a limiting plate portion, and the wire clamp adapter seat and the limiting plate portion are spaced apart.

4. The cable force measuring device for a water detection robot according to claim 3 is characterized in that: A gap of 0.5 mm is maintained between the wire clamp adapter and the limiting plate portion.

5. The cable force measuring device for a water detection robot according to claim 3 is characterized in that: The pin shaft passes through one end of the wire clamp adapter and is inserted into the other end; The other end of the wire clamp adapter is equipped with a pull ring knob plunger; The pull ring knob plunger pin is fixed on the pin shaft.

6. The cable force measuring device for a water detection robot according to claim 1, characterized in that: The wire clamp assembly includes an end seat, and a wire clamp plate hung on a pin is fixedly connected to the left wall of the end seat; The cables pass through the terminal block.

7. The cable force measuring device for a water detection robot according to claim 6, characterized in that: The inner end of the wire clamp is hung on the pin; the cable is limited in the wire clamp.

8. The cable force measuring device for a water detection robot according to claim 7, characterized in that: The upper and lower ends of the wire clamp plate are respectively threadedly connected with a plurality of pressing screws for pressing the cables.

9. The cable force measuring device for a water detection robot according to claim 7, characterized in that: A plurality of springs are fixedly connected to the outer side wall of the end seat, and cables pass through the spring cavities of the springs.

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