Cable for fly rope robot and fly rope robot

Abstract

The utility model provides a cable for a fly rope robot and the fly rope robot, and belongs to the technical field of mechanical equipment, the cable comprises a cable core, the cable core is sleeved with a protective sleeve, the protective sleeve is provided with a positioning marking member, and the positioning marking member is used for cooperating with the fly rope robot to carry out distance measurement positioning on the fly rope robot; the flying rope robot has the advantages that the positioning marking piece is additionally arranged, so that the driving path distance of the flying rope robot is determined by monitoring the length of the driving positioning marking piece in the driving process of the flying rope robot, and the position of the flying rope robot can be determined.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical equipment, and in particular relates to a cable for a flying cable robot and the flying cable robot. Background Art

[0002] In the application of zipline robots, they rely on steel cables suspended in the air to support their movement. However, these cables are generally made of ordinary rust-proof steel cables, which only serve to support and guide the robot, but cannot determine the robot's position or travel distance, which cannot meet the increasingly precise requirements. Therefore, how to ensure the load-bearing strength of the cables while also ensuring the positioning of the zipline robot is an urgent problem that needs to be solved. Utility Model Content

[0003] The purpose of the utility model is to solve the above problems in the existing technology and to provide a cable that can ensure strength and can also be positioned.

[0004] The purpose of the utility model can be achieved through the following technical solutions: a cable for a flying wire robot, comprising a wire core, the wire core is covered with a protective sleeve, a positioning marker is provided on the protective sleeve, and the positioning marker is used to cooperate with the flying wire robot to measure the distance and position it.

[0005] In the above-mentioned cable for a flying wire robot, the positioning marker includes a plurality of positioning marker portions spaced apart on the outer wall of the protective cover.

[0006] In the above-mentioned cable for a flying wire robot, each positioning marking portion includes a positioning tooth, a positioning spacing is formed between every two positioning teeth, and a plurality of positioning spacings are sequentially arranged to form a distance measuring line.

[0007] In the above-mentioned cable for a flying wire robot, the interior of the positioning teeth is a hollow structure.

[0008] In the above-mentioned cable for a flying wire robot, the tooth shape of the positioning teeth is an isosceles trapezoid.

[0009] In the above-mentioned cable for a flying wire robot, the tooth top length of the positioning teeth is 5 mm, the tooth height length is 10 mm, the tooth bottom length is 8 mm, and the interval between two adjacent positioning teeth is 5 mm.

[0010] In the above-mentioned cable for a flying wire robot, the material of the protective cover is polymer.

[0011] In the above-mentioned cable for a flying wire robot, the wire core includes a stainless steel wire, and the stainless steel wire is twisted and wrapped with a conductive bare copper wire.

[0012] A flying cable robot comprises the above-mentioned cable for the flying cable robot.

[0013] Compared with the prior art, the beneficial effect of the present invention is that by adding a positioning marker, the distance of the traveling path of the zipline robot can be determined by monitoring the length of the positioning marker during the travel of the zipline robot, thereby determining the position of the zipline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the planar structure of the cable used for the flying cable robot;

[0015] Figure 2 yes Figure 1 Schematic diagram of the cross-sectional structure in ;

[0016] Figure 3 yes Figure 1 Schematic diagram of the longitudinal cross-section structure.

[0017] In the figure, there are a wire core 100 , a stainless steel wire 101 , a conductive bare copper wire 102 , a protective sleeve 200 , a positioning tooth 201 , and a connecting portion 202 . DETAILED DESCRIPTION

[0018] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] like Figure 1-Figure 3 As shown, a cable for a flying wire robot includes a wire core 100, a protective sleeve 200 is provided on the wire core 100, and a positioning marker is provided on the protective sleeve 200. The positioning marker is used to cooperate with the flying wire robot to measure the distance and position it.

[0021] In this embodiment, by adding a positioning marker, the distance of the traveling path of the zipline robot can be determined by monitoring the length of the positioning marker that has traveled during the traveling of the zipline robot, thereby determining the position of the zipline robot.

[0022] Preferably, the positioning marking member includes a plurality of positioning marking portions spaced apart on the outer wall of the protective cover 200 .

[0023] Specifically, each positioning mark portion includes a positioning tooth 201 , a positioning interval 1 is formed between every two positioning teeth 201 , and a plurality of positioning intervals 1 are sequentially arranged to form a distance measuring line.

[0024] In this embodiment, a plurality of positioning teeth 201 are provided on the outer wall of the protective cover 200, and a positioning spacing l is formed between every two positioning teeth 201. The plurality of positioning spacings 1 are arranged in sequence to form a distance measuring line. Then, by monitoring the number of positioning teeth 201 passed by the flying wire robot, the walking path distance of the flying wire robot can be determined.

[0025] Specifically, as to how to use the positioning teeth 201 to cooperate with the flying wire robot for positioning, the following form can be adopted: a monitoring gear is provided on the flying wire robot, the monitoring gear is engaged with the positioning teeth 201, and a speed sensor is also provided to monitor the number of rotations of the monitoring gear. By measuring the number of rotations of the monitoring gear, the number of positioning teeth 201 passing through can be obtained at intervals.

[0026] As other embodiments, the positioning marking portion may also be set to other structures, such as providing a marking ruler on the outer wall of the protective cover 200, and directly determining the walking distance of the zipline robot by directly reading the value of the marking ruler.

[0027] Specifically, the interior of the positioning tooth 201 is a hollow structure.

[0028] In this embodiment, in order to reduce the weight of the entire protective cover 200, the interior of the tooth shape with the positioning teeth 201 is a hollow structure; preferably, a connecting part 202 is provided at both ends of the protective cover 200, and the connecting part 202 is fixed to the wire core 100 to lift the protective cover 200 and increase the diameter of the protective cover 200.

[0029] Specifically, the tooth shape of the positioning tooth 201 is an isosceles trapezoid, which is easy to process and manufacture, and the root portion thereof is wider, and the root strength is higher, and it can withstand a larger load without being easily broken.

[0030] Specifically, the tooth top length of the positioning teeth 201 is 5 mm, the tooth height length is 10 mm, the tooth bottom length is 8 mm, and the interval between two adjacent positioning teeth 201 is 5 mm.

[0031] In this embodiment, the cable is mainly for large-size, large-load robots. When a monitoring gear is installed on the robot, the monitoring gear engages with the positioning tooth 201. By rotating the monitoring gear, the engagement between the monitoring gear and the positioning tooth 201 can be utilized to drive the flying cable robot forward, especially for some mountainous areas, where the angle between the cable and the horizontal direction is too large, resulting in the need for greater force.

[0032] Specifically, the protective cover 200 is made of a polymer, preferably one or more of rubber, polyurethane, polyethylene, and polytetrafluoroethylene, so as to have high wear resistance and high flexibility.

[0033] Further preferably, the wire core 100 includes a stainless steel wire 101, and the stainless steel wire 101 is twisted and wrapped with a conductive bare copper wire 102. The stainless steel wire 101 is twisted and wrapped with the conductive bare copper wire 102 to increase the strength of the entire wire core 100, and the presence of the conductive bare copper wire 102 makes the wire core 100 also have a certain conductivity, thereby increasing the usage scenarios of the cable.

[0034] Specifically, as shown in FIG. 2 , the conductive bare copper wires 102 at both ends of the core 100 are exposed outside the protective sheath 200 .

[0035] A flying cable robot comprises the above-mentioned cable for the flying cable robot.

[0036] It is worth mentioning that a monitoring gear is provided on the flying cable robot, and a driving part is provided inside the flying cable robot to be driven and connected to the monitoring gear. A control module and a detection module are also provided. The detection module includes a wheel speed sensor, and the wheel speed sensor is electrically connected to the control module.

[0037] It's worth noting that the specific shape, size, and spacing of the positioning teeth 201 on the cable are preset. The robot stores this data (primarily the spacing) before operation. The robot is initialized during its first run, with its initial position as the origin. By accumulating the distances moved each time, the robot's precise position relative to the origin can be calculated. The robot's origin can be manually set, i.e., the position of the robot during initialization for its first run.

[0038] It should be noted that, in the present utility model, descriptions such as "first", "second", "one", 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 the description of the present utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly defined. The terms "connected", "fixed", etc. should be understood in a broad sense. For example, "fixed" can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0039] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. 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 this utility model.

[0040] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. A cable for a flying wire robot, characterized in that: It includes a wire core, a protective cover is provided outside the wire core, a positioning marker is provided on the protective cover, the positioning marker is used to cooperate with the flying wire robot to measure the distance and position it, the positioning marker includes a plurality of positioning marking parts arranged at intervals on the outer wall of the protective cover, each of the positioning marking parts includes a positioning tooth, a positioning spacing is formed between every two of the positioning teeth, and the plurality of positioning spacings are arranged in sequence to form a ranging line.

2. A cable for a flying wire robot according to claim 1, characterized in that: The interior of the positioning tooth is a hollow structure.

3. The cable for a flying wire robot according to claim 1, characterized in that: The tooth shape of the positioning teeth is an isosceles trapezoid.

4. A cable for a flying wire robot according to claim 3, characterized in that: The tooth top length of the positioning teeth is 5 mm, the tooth height length is 10 mm, the tooth bottom length is 8 mm, and the interval between two adjacent positioning teeth is 5 mm.

5. The cable for a flying wire robot according to claim 1, characterized in that: The material of the protective cover is polymer.

6. The cable for a flying wire robot according to claim 1, characterized in that: The wire core comprises a stainless steel wire, and the stainless steel wire is twisted and wrapped with a conductive bare copper wire.

7. A flying wire robot, characterized in that: The invention comprises a cable for a flying wire robot as described in any one of claims 1 to 6 above.

Images