Pipeline length and tightness self-adaptive control system of wall-climbing robot

Abstract

A pipeline length and tightness degree self-adaptive control system of a wall-climbing robot comprises a sensor and an automatic adjusting device. The sensors are arranged on a pipeline and a control circuit of the wall-climbing robot, the sensors comprise a tension sensor and a length sensor, and the tension sensor and the length sensor are used for monitoring the tightness degree and the length change of the pipeline and the control circuit in real time and transmitting sensor data to a ground control station or a control system of the robot in real time. The automatic adjusting device is a wire spool, and the wire spool is driven by a motor to rotate, drives the pipeline and controls the line to be wound and unwound.

Description

TECHNICAL FIELD

[0001] The utility model relates to a wall -climbing robot, especially a pipeline length and tightness degree self -adaptation control system of wall -climbing robot. BACKGROUND

[0002] When the wall -climbing robot works on the facade, such as the surface of the steel gate of the hydropower station, the tail usually has numerous cables for communication and pipelines for waste gas and wastewater recovery, these cables and pipelines will form a certain drag force on the robot, affect the working accuracy of the robot, at present, for the common wall -climbing robot, the length and tightness degree of the above-mentioned cable and pipeline lack practical understanding, the cable and pipeline are too long, and the drag formed on the robot will affect the working accuracy, the cable and pipeline are too short or too tight, and there is the possibility of separation, resulting in the breakage of the cable and pipeline. SUMMARY

[0003] The utility model solves the technical problem that a pipeline length and tightness degree self -adaptation control system of wall -climbing robot provides, and the tightness degree and length of the current cable and pipeline of the robot are monitored in real time during the operation process.

[0004] To solve the above technical problem, the technical scheme adopted by the utility model is that corresponding sensors, including length sensors and tension sensors, are installed on the cable and pipeline, the data of the above-mentioned sensors are acquired in real time, the pulling state of the current cable is judged, and corresponding treatment is made in time for abnormal conditions.

[0005] A pipeline length and tightness degree self -adaptation control system of wall -climbing robot, including sensor, automatic adjusting device,

[0006] The sensor includes a tension sensor and a length sensor, wherein the tension sensor is installed at the connection between the control line and the wall -climbing robot, and the length sensor is installed on the reel, the tension sensor is used for monitoring the tightness degree of the control line in real time, the length sensor is used for monitoring the length change of the control line in real time, and the tension sensor and the length sensor transmit sensor data to the ground control station or the controller of the robot in real time.

[0007] The automatic adjusting device is a reel, and the reel is driven to rotate by the reel motor and drives the control line to be wound and unwound.

[0008] The ground control station or the controller of the robot is provided with a warning system, and the warning system is a sound alarm or a light alarm.

[0009] The winding reel comprises a support, a hollow rotating shaft is fixed on the support, and the winding frame is rotatably connected with the hollow rotating shaft through a bearing; one end of the control line is electrically connected with a ground control station or a controller of the robot, the other end of the control line passes through the hollow rotating shaft and is wound on the winding frame, and the other end of the control line extends out of the winding frame and is connected with the wall-climbing robot.

[0010] The bottom end of the support is provided with a moving wheel.

[0011] The winding frame comprises left and right connecting plates, the two connecting plates are connected through a connecting rod, and the connecting plate on one side is assembled and connected with the hollow rotating shaft through a bearing seat and a bearing.

[0012] The tension sensor is an S-shaped tension sensor.

[0013] The length sensor adopts an optical sensor.

[0014] The utility model provides a pipeline length and tightness degree self -adaptation control system of wall -climbing robot has the following technical effects:

[0015] 1) through setting tension sensor, length sensor, tension sensor, length sensor are connected with control system, tension sensor and length sensor gather corresponding data to control system, and control system processes above -mentioned data, and control winding reel takes up or releases wire, so that the length of pipeline and tightness degree can be ensured in reasonable range all the time, and the normal work of communication system is ensured.

[0016] 2) through acquisition current pipeline (control line) has released length and tension sensor's tension size, judge whether cable exists to pull or to jam, avoid because of pulling or jam and lead to cable breakage, influence equipment normal use. DRAWINGS

[0017] The utility model makes further explanation from the following combined with the drawing and embodiment:

[0018] Figure 1 It is working schematic view of the utility model.

[0019] Figure 2 It is connection schematic view of the utility model.

[0020] Figure 3 It is the front view of winding reel in the utility model.

[0021] In the drawing: pipeline 1, control line 2, tension sensor 3, wall -climbing robot 4, winding reel 5, pipeline support column 6, robot controller 7, length sensor 8, winding reel motor 9, early warning system 10, support 5.1, hollow rotating shaft 5.2, winding frame 5.3, connecting plate 5.3.1, connecting rod 5.3.2, bearing seat 5.3.3. Detailed Implementation

[0022] like Figures 1-2 As shown, an adaptive control system for the pipeline length and tightness of a wall-climbing robot includes sensors, an automatic adjustment device, and an early warning system.

[0023] The sensors include a tension sensor 3 and a length sensor 8. The tension sensor 3 is a Futek LSB200 series miniature S-type tension sensor. The tension sensor 3 is installed at the connection point between the control line 2 and the wall-climbing robot 4, directly measuring the tension at the end of the control line 2 and providing real-time feedback on the tightness. The length sensor 8 can be a photoelectric sensor (Huayifeng LU-F24N). A light-blocking encoder is installed on the shaft of the winding reel 5. As the encoder rotates, it blocks light, and the photoelectric sensor detects changes in the light signal to count. Assuming the diameter of one turn of the winding reel is D (unit: meters), and the length of the cable per turn is the circumference, i.e., πD, if the winding reel rotates n times, the unwound length L can be calculated using the following formula: L = n × πD. By measuring the number of turns the winding reel has made, the length of the cable already unwound can be indirectly calculated.

[0024] By installing tension sensor 3 and length sensor 8, the tightness and length changes of control line 2 are monitored in real time, and the sensor data is transmitted to the ground control station or the robot controller 7 built into the robot in real time.

[0025] The warning system 10 can be a sound alarm (SONITRON SAS-2154-W alarm) or a light alarm (Chint ND2 series warning light). The ground control station or the robot's built-in robot controller 7 sets a reasonable threshold range based on sensor data. When the tightness or length of the cable exceeds the threshold, the warning system 10 is automatically triggered to remind the operator to take timely measures.

[0026] The automatic adjustment device uses a winding reel 5, which is driven by a winding reel motor 9 (not shown). The ground control station or the robot's built-in robot controller 7 activates the winding reel motor 9 based on sensor data, automatically adjusting the length and tension of the control line 2. Through algorithm optimization, dynamic balance of cables and pipes is achieved during robot movement, reducing drag and breakage risks.

[0027] Figure 1The common winding reel is used, and when the common winding reel is used, the control line 2 on the winding reel 5 is unwound at one end and wound at the other end. For example, when the section between the wall-climbing robot 4 and the winding reel 5 gradually becomes longer when the winding reel 5 is unwound, the section between the winding reel 5 and the robot controller 7 gradually becomes shorter when the winding reel 5 is unwound. However, in actual use, the length of the section, in which the control line 2 is connected with the ground control station or the robot controller 7 of the robot, should be substantially unchanged, otherwise a relatively long control line 2 should be reserved in this section, which leads to inconvenience and impracticability in use. The device needs to solve the problem that the section does not produce winding or unwinding.

[0028] As shown in Figure 3 The improved winding reel 5 is used. The winding reel 5 comprises a support 5.1 for supporting the main body of the winding reel 5. The hollow rotating shaft 5.2 is horizontally fixed on one side of the upper end of the support 5.1, and a through hole is formed in the center of the hollow rotating shaft 5.2 to facilitate the control line 2 to directly pass through. The winding reel 5 is rotatably connected with the hollow rotating shaft 5.2 through a bearing, so that the winding reel 5 can freely rotate relative to the axis of the hollow rotating shaft 5.2. One end of the control line 2 is electrically connected with the ground control station or the controller 7 of the robot, the other end of the control line 2 passes through the hollow rotating shaft 5.2 and is wound on the winding reel 5.3, and the other end of the control line 2 extends out of the winding reel 5.3 and is connected with the wall-climbing robot 4.

[0029] The mobile wheel is arranged at the bottom end of the support 5.1, thereby facilitating the direct movement of the device.

[0030] The winding reel 5.3 comprises left and right connecting plates 5.3.1, and the two connecting plates 5.3.1 are connected through three connecting rods 5.3.2, and the projections of the three connecting rods 5.3.2 are on a circle. The three connecting rods 5.3.2 are used for winding the control line 2. The connecting plate 5.3.1 on one side is assembled and connected with the hollow rotating shaft 5.2 through a bearing seat 5.3.3 and a bearing. The winding reel motor 9 is fixedly installed on the support 5.1 through a mounting plate, and the output shaft of the winding reel motor 9 is connected with the connecting plate 5.3.1 on the other side. In this way, when the winding reel motor 9 drives the winding reel 5.3 to rotate, the winding reel 5.3 rotates along the hollow rotating shaft 5.2. When the winding reel 5.3 rotates, the control line 2 connected with the wall-climbing robot 4 is wound or unwound, and the control line 2 connected with the ground control station or the controller 7 of the robot remains unchanged.

[0031] Here, only the control line 2 is described, and the same solution can be used if the pipeline 1 has the same problem.

[0032] Working principle and process: when the wall-climbing robot 4 is not working, the working length of the control line 2 is input into the ground control station or the robot controller 7 carried by the robot, and the tension value that the control line 2 can bear or the set tension value is input, the ground control station or the robot controller 7 carried by the robot tracks the two parameters during operation, judges whether they are within the set range, if they are out of the range, it is judged that the control line 2 is collapsed or stuck, and corresponding processing is made, the corresponding state is output or the robot is stopped by issuing a robot control instruction, until the user intervenes to remove the jam, and the parameter returns to the normal range.

Claims

1. An adaptive control system for the length and tightness of the pipeline of a wall-climbing robot, characterized in that: Including sensor, automatic adjusting device; The sensor includes a tension sensor (3) and a length sensor (8), wherein the tension sensor (3) is installed at the connection between the control line (2) and the wall climbing robot (4); the length sensor (8) is installed on the winding reel (5); the tension sensor (3) is used for monitoring the tightness of the control line (2) in real time, and the length sensor (8) is used for monitoring the length change of the control line (2) in real time; the tension sensor (3) and the length sensor (8) transmit sensor data to the ground control station or the controller (7) carried by the robot in real time, The automatic adjusting device is a winding reel (5), and the winding reel (5) is driven to rotate by a winding reel motor (9) and drives the control line (2) to be wound and unwound.

2. The pipeline length and tightness self-adaptive control system of the wall-climbing robot according to claim 1, characterized in that: The ground control station or the controller (7) carried by the robot is provided with a warning system, which is a sound alarm or a light alarm.

3. The pipeline length and tightness self-adaptive control system of the wall-climbing robot according to claim 1, characterized in that: The winding reel (5) includes a support (5.1), the support (5.1) is fixed with a hollow rotating shaft (5.2), and a winding reel (5.3) is rotatably connected with the hollow rotating shaft (5.2) through a bearing; one end of the control line (2) is electrically connected with the ground control station or the controller (7) carried by the robot, the other end of the control line (2) passes through the hollow rotating shaft (5.2) and is wound on the winding reel (5.3), and the other end of the control line (2) extends out of the winding reel (5.3) and is connected with the wall climbing robot (4).

4. The pipeline length and tightness self-adaptive control system of the wall-climbing robot according to claim 3, characterized in that: The support (5.1) is provided with a moving wheel at the bottom end.

5. The pipeline length and tightness self-adaptive control system of a wall-climbing robot according to claim 4, characterized in that: The winding reel (5.3) includes left and right connecting plates (5.3.1), the two connecting plates (5.3.1) are connected through a connecting rod (5.3.2), and the connecting plate (5.3.1) on one side is assembled and connected with the hollow rotating shaft (5.2) through a bearing seat (5.3.3) and a bearing.

6. The pipeline length and tightness self-adaptive control system of a wall-climbing robot according to claim 5, characterized in that: The tension sensor (3) is an S-shaped tension sensor.

7. The pipeline length and tightness self-adaptive control system of a wall-climbing robot according to claim 6, characterized in that: The length sensor (8) adopts an optical sensor.

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