53 results about "Cable robot" patented technology

The invention provides a cable-stayed bridge cable, which comprises a driving module 1, a driven module 2, a detection module 3 and a power-off protection module 4, wherein the driving module 1 takes a driving frame 5 as a mounting platform; the driven module 2 takes a driven frame 27 as a mounting platform; the detection module 3 takes a camera support frame 53 as a mounting platform; the power-off protection module 4 takes a mounting frame 56 as a mounting carrier; the driving frame 5 is connected with the driven frame 27 through connecting yokes 44 and connecting bars 45; the detection module 3 is connected with the driving frame 5 and the driven frame 27 respectively through the camera support frame 53; the power-off protection module 4 is connected with the driving frame 5 through the mounting frame 56. When an electromagnetic clutch is cut off, an electromagnet works to drive a brake band to enclasp a brake wheel, so that the robot is prevented from slipping off; and a clamping way is simple and practicable.

The invention discloses a crawling mechanism for a peristaltic cable robot, belonging to the technical field of the detection of the robot. The crawling mechanism for the peristaltic cable robot comprises a peristaltic crawling mechanism and a safe backhaul mechanism, wherein the peristaltic crawling mechanism comprises a driving wheel device, a driven wheel device, a slider-crank mechanism, a control box and a sensor; the driving wheel device is divided into a main upper frame locking wheel device and a main lower frame holding wheel device, the driven wheel device is divided into a subsidiary upper frame locking wheel device and a subsidiary lower frame holding wheel device, and the two frames are respectively connected with a spring by at least two of connecting bolts and nuts; the slider-crank mechanism is connected with the driving wheel device and the driven wheel device; and the safe backhaul mechanism comprises an escape wheel and an escape claw. The crawling mechanism for the peristaltic cable robot provided by the invention is simple and reliable in structure, and provided with an energy resource by itself, the safe backhaul mechanism is simple, and the crawling mechanism can be used for detecting the cable with the large diameter from 120mm to 200mm and the gradient range from 0 degree to 90 degrees.

The invention relates to an application system (100), preferably for coating large-surface-area objects or for applying an adhesive-bonding material to at least one joining location of large objects which are to be connected. The application system (100) comprises at least one application apparatus (10), which comprises an applicator (11) for applying the application means to an object (50). The application system (100) is distinguished, in particular, in that it comprises at least one cable-guided handling apparatus (20), e.g. a cable robot or a cable manipulator, which uses a carrying structure (21) for carrying the application apparatus (10) and for moving the applicator (11) relative to the object (50).

The invention discloses a rotation-controlled high altitude cable robot climbing mechanism. The rotation-controlled high altitude cable robot climbing mechanism comprises three driving components and obstacle sensing devices, wherein the obstacle sensing devices are fixedly arranged at the tops and / or bottoms of the three driving components; each driving component comprises two rollers; the two rollers in each driving component are driving wheels; each roller is conical; one side, in contact with a cable, of each roller, is provided with a roller frame; and a plurality of rolling columns are uniformly arranged in a circumferential direction of each roller frame. After the structure is adopted, a robot climbs when rotating in the same direction; the robot does not climb and rotates around the center of the cable at an angular velocity in a controllable way when rotating in a reverse direction. In addition, during climbing cables with different outer diameters, the posture of the mechanism is invariable, can keep constant spring force, can adapt to different cable diameters and shows strong obstacle crossing capacity. Meanwhile, the rotation-controlled high altitude cable robot climbing mechanism disclosed by the invention has the advantages of small part number, compact structure, light weight and convenient control and mounting.

The invention relates to a real-visual multifunctional operation robot for a cable channel. The real-visual multifunctional operation robot is composed of a cable robot control platform and a cable robot operation platform. The cable robot control platform is connected with the cable robot operation platform through a cable. According to the real-visual multifunctional operation robot, a multifunctional crawler platform is carried with hardware equipment suitable for a cable duct line or calandria monitoring. The hardware equipment is used for achieving design and implementation of a video monitoring system, an infrared thermal imaging system and a multi-sensor integrated platform and interacting with a ground console for data return. An overground operation system can display underground images and thermal infrared images in real time and also can achieve advancing, retreating, turning, braking and obstacle crossing of a cable robot and control over turning of a pan-tilt through a joystick, and thus the dead-angle-free monitoring is achieved. The cable robot detects the pipeline temperature and humidity, the oxygen content, ponding, sludge, small animals, hazardous gas and other unknown factors at the same time for guaranteeing the life safety of staff going down to a well.

The invention relates to a cable robot driving carrier. A present cable robot driving carrier needs to be installed at a high altitude by workers, if meeting meteorological disasters of ice rain and the like, high altitude installation is more dangerous, and a plurality of driving carriers can not be used universally and are not suitable for single field operation. The cable robot driving carrier comprises a rack (1) which is installed with a walking auxiliary wheel (2) and is connected with an installation rope (3). A dismounting compound rod (4) is connected to the rack through a hinge. A torsion spring (5) is connected between the dismounting compound rod and the rack. The dismounting compound rod connects with a dismounting rope (6). A lower part of the rack connects with a driving motor (7). A power output shaft of the driving motor connects with a worm (8). The worm connects with a worm gear (9). The worm gear is installed on a driving shaft (10) which is connected with a rod chain combination. The cable robot driving carrier is used for a cable driving carrier.

A method for parameterizing a photogrammetric cable robot, having a frame, a mobile platform carrying a camera and cables, each cable extending from a mobile platform attachment point to a position-adjustable exit point, while remaining linked to the frame. The robot's maximum workspace is defined by the ranges of possible positions of the different cable exit points. A set of pairs of setpoint positions and orientations of the platform is determined, for performing the point measurements of a scene by photogrammetry. Then, a genetic algorithm comprising crossing, transformation and selection operations is applied to a population of vectors, each representing respective positions of cable exit points, the selection being made via a fitness function involving a first objective function evaluating a collision percentage and a second objective function evaluating a percentage violation of a mobile platform constraint of equilibrium, when the platform assumes the different setpoint positions and orientations.

The invention relates to a tunnel cable automatic laying robot and an application method thereof, which belong to the technical field of power system infrastructure equipment. The tunnel cable automatic laying robot is characterized by comprising a control unit, a motion unit (2), a wireless transmission unit, a visual unit, a traction unit (5) and a power supply (6), wherein the visual unit, the wireless transmission unit and the control unit are connected in sequence to form a robot head portion ( 134), the robot head portion (134), the motion unit (2), the power supply (6) and the traction unit (5) are sequentially arranged in serpentine shape, the control unit and the motion unit (2) are interconnected by means of a CAN bus, and the control unit, the motion unit (2) and the traction unit (5) are each connected with the power supply (6). The tunnel cable automatic laying robot and the application method thereof have the beneficial effects that: the passing ability of the robot in laying the cable is greatly improved by utilizing the serpentine robot, the robot can even climb through some narrow slots, the robot is safe and reliable, the cost is saved and the efficiency is improved.

The invention discloses a portable charging box for a robot, which comprises a fixed shell and a second solar battery panel, a fixed frame is embedded on the front surface of the fixed shell, and an automatic wire take-up is fixedly connected to the side wall of the fixed shell The top end of the fixed frame is fixedly connected with a fixed outer tube, the top end of the fixed outer tube is embedded with a telescopic rod, and the top end of the telescopic rod is fixedly connected with a handle. The present invention can charge the storage battery through the first solar battery panel and the second solar battery panel, which improves the battery life and realizes energy saving and environmental protection at the same time. Charging improves the practicability, and the universal wheel can be rotated to facilitate the overall movement. The battery can be protected by the buffer spring and the buffer plate, which improves the service life of the battery and is suitable for comprehensive promotion and use.

A system for controlling a tension of a tether between an object and a load tethered to the object comprises magnetorheological (MR) fluid actuator unit(s) including at least one torque source and at least one MR fluid clutch apparatus coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output of the MR fluid actuator unit. A tensioning member is connected to the output so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action when being pulled by the output member. Sensor(s) provide information indicative of a relation between the object and the load tethered to the object. A controller controls the at least one MR fluid clutch apparatus in exerting the pulling action based on said information.

The invention discloses a method for eliminating submarine cable obstacles by a cabled underwater robot, and relates to the field of submarine cable operation and maintenance. At present, an underwater robot is only used for surveying submarine cables, measures are not taken for obstacles possibly causing the submarine cables, and the function is simple. The method comprises the following steps: when foreign matters threatening the safety of the submarine cable exist around the submarine cable, performing close-range detection and photographing on abnormal points by utilizing optical equipmentand / or acoustic equipment, and recording coordinates; using tools carried by the underwater robot with the cable and comprising a mechanical arm and a shearing device to remove small obstacles; and for a large obstacle, enabling the cable underwater robot to connect the obstacle to a rope released by an obstacle removing work ship through a manipulator, and pulling out the obstacle through hoisting equipment on the ship. According to the technical scheme, the manipulator and the shearer are arranged to replace a diver to complete submarine cable obstacle removing operation, the submarine cable operation and maintenance efficiency is improved, and the safety risk of obstacle removing operation of workers is reduced.

The embodiment of the invention discloses a motion control method of a cable robot and the cable robot. The cable robot hardly causes damage to a cable in the moving process. According to the embodiment, a load and a climbing mechanism of the cable robot are arranged in a split mode, the load can be borne on a body, the climbing mechanism is arranged on a front body, during movement, the climbingmechanism firstly moves and drives the front body to move, after the front body reaches a designated position, a first holding mechanism of the front body holds a cable tightly, and the body is pulledto move along the cable by withdrawing a connecting rope, so that the movement of the cable robot is realized. When the cable robot moves, the load does not need to be carried to climb, the load onlyneeds to be pulled through the connecting rope after the front body reaches the designated position, and the cable is hardly damaged in the load pulling process.

A system adapted for supporting workflow in a three-dimensional space which provides, among other things, hands-free control and adjustment of lighting within the three-dimensional space. The system of the present invention is also adapted for delivering, tracking, and retrieving tools in the three-dimensional space. The system of the present invention includes various subsystems, which are referred to herein as modules, that both act independently and co-dependently, as will be described in greater detail below, in conjunction with a central control computer module. The modules consist, in an exemplary embodiment, of the cable robot module, the central computer module, the imaging module, the illumination module, and the object manipulator module.

The invention discloses a marine automatic cable laying robot which comprises a mounting box, a cable binding fixing part, a robot walking guide rail, a pair of motors, a pair of lithium batteries, acontrol module and a motor gear box, chutes are formed in the two side faces of the robot walking guide rail, and a rack rail is arranged in the center of the bottom of the robot walking guide rail; and a groove matched with the robot walking guide rail is formed in the center of the mounting box, and protruding strips matched with the two chutes are arranged on the two side faces of the groove. The two motors are symmetrically fixed in the mounting box on the two sides of the robot walking guide rail; the motor gear box is fixed in the mounting box between the two motors and located under therobot walking guide rail, and a walking gear meshed with the rack rail is arranged at the top of the motor gear box; and the two lithium battery scales are fixed in the mounting box on the two sidesof the robot walking guide rail. Cable laying by on-site construction personnel can be replaced, and the on-site cable laying efficiency can be greatly improved.

The crawler-type stay cable robot comprises a walking module, a radial balance module and an AI defect detection module, the radial balance module is fixedly installed on the walking module, and the AI defect detection module is fixedly installed on the walking module. The walking mechanism can achieve two modes of crawler wheel type walking and climbing type walking, elastic force self-adaption mechanisms are installed on floating supporting plates on the two sides of a walking crawler belt, the robot can provide stable positive pressure in the climbing process, it is guaranteed that the robot can stably run, a transmission mechanism of a compact structure is arranged in a crawler wheel, and the transmission mechanism is compact in structure. Large torque can be provided, and the radial balance module can guarantee the balance of the robot during working. According to the invention, integrated operation of crawler wheel type walking, climbing type walking, dynamic radial balance and stay cable AI detection can be realized, and the working efficiency is greatly improved.

The invention relates to a cable robot (1) for creating a structure or manipulating a workpiece, comprising a working head (4) which is suspended on a support structure (3) having at least three support columns (7, 8, 9, 10) by a system of cables (2) having at least three control cables (5, 6), wherein cable winches (24, 25) are provided for arranging the control cables relative to the support structure and / or relative to the working head, and can they be actuated by an electronic control device (26) for moving the working head, wherein the support columns of the support structure are luffingly and / or telescopically arranged on a revolving stage (13), which has a ballast weight (20) for absorbing a tilting moment introduced into the respective support column by the system of cables and which is arranged on an undercarriage such that it can rotate about an upright revolving stage axis (14), said undercarriage having a chassis (16) and being designed such that it can move with the revolving stage and the downwardly luffing and / or retracted support column.

The invention discloses a high-flowing-water-resistance underwater cable robot and a control method thereof, and relates to the technical field of underwater robots, the high-flowing-water-resistance underwater cable robot comprises a robot shell, and the robot shell is constructed through an underwater fluid motion simulation method, is of a streamline spindle structure and is arranged in a closed mode; the robot shell is provided with an ultra-short baseline positioning system, an antenna, an illuminating lamp, a camera, a mechanical scanning sonar, a tachymeter, a propeller and a main control circuit used for controlling the underwater cable robot. The underwater robot is reasonable in structure arrangement, the running resistance is reduced, the underwater running speed and the anti-flow stability are improved, the underwater positioning precision and other indexes of an underwater robot carrier are further improved, meanwhile, the carried data acquisition equipment is convenient to check and use in a complex water area, and the underwater robot is convenient to use. The system has the functions of fixed-depth control, directional control and real-time monitoring, and underwater monitoring work is more intelligent and informationized.

An apparatus that immerses the user into a virtual reality environment where the user can train by themselves or compete with others in the same or other locations, enhanced by the principles of a gyroscope combined with the principles of simulation and virtual reality. The invention can be employed for entertainment, physical exercise, and competitive sports. A user of this invention has the capability of undergoing complex three hundred and sixty degree motions because of the gyroscopic aspects of the apparatus in conjunction with cable robots, exo skeleton human-computer interface, and virtual reality head mounted displays.

A cable robot comprises a platform supporting an effector and cables. Each cable is connected on one end to an attachment point on the platform and extends from this attachment point to an anchoring point attached to a supporting structure. The anchoring points being contained in more than one plane. The cables include a set of driving cables whose ends are connected to a winch. The cables include a set of reconfigurable cables, whose anchoring points are movable relative to the supporting structure. The supporting structure is beared by a set of independent mobile bases having anchorings to fix the mobile bases to the ground.

The invention relates to the field of power cables, in particular to an environment-friendly flame-retardant cold-resistant and wear-resistant cable and a manufacturing method and application of the environment-friendly flame-retardant cold-resistant and wear-resistant cable. The cable comprises a cable core and an outer protective layer. The outer protective layer comprises a ternary environment-friendly flame-retardant layer and a polyurethane layer; the ternary environment-friendly flame-retardant layer and the polyurethane layer are arranged in a cross-linking manner through a cross-linking structure; the preparation method comprises the following steps: S1, preparing a synergistic ternary composite flame retardant solution; S2, preparing an active synergistic ternary composite flame retardant; S3, preparing nano catalytic activity synergistic ternary composite flame retardant particles; S4, preparing the polyurethane layer; S5, preparing ternary environment-friendly flame-retardant fiber yarns and polyester fiber yarns; and S6, preparing a polyurethane cable. The ternary environment-friendly flame-retardant layer and the cross-linked structure are utilized to realize high wearresistance, high mechanical properties and adaptability to various environments; and the environment-friendly flame-retardant cold-resistant and wear-resistant cable is applied to airplane charging,new energy automobile charging cables, shield tunneling machine cables, fan cables, robot drag chain cables and robot arm cables.

The invention provides a wriggling cable robot driven wheel device. The device comprises a first rotating rod, a mounting plate, a fixed block, a second rotating rod, a first pulley, a fixed plate, ascrew rod, a second pulley and a base; the back end of the first rotating rod is mounted on the front end surface of the mounting plate through a bearing; the mounting plate is welded on the right endsurface of the base; the fixed block is fixed at the left end of the fixed plate through screws; the second rotating rod is mounted on the fixed block through a bearing; the first pulley is mounted on the annular side surface of the second rotating rod; the fixed plate is mounted on the annular side surface of the screw rod; the screw rod is fixed on the right end surface of the mounting plate; the right end of the screw rod extends to the right end surface of the fixed plate; and the second pulley is mounted on the annular side surface of the first rotating rod. The device is convenient foruse and movement, high in stability and convenient for installation and disassembly.

The invention relates to a duct cable robot and a control method thereof. The control method comprises the following steps: establishing a mapping relation among a camera coordinate system, an inertial coordinate system and a world coordinate system; obtaining a current frame movement distance and a current frame rotation matrix based on the current frame pipeline image and the previous frame pipeline image, and obtaining a current frame movement speed based on the current frame movement distance and the shooting period; judging the pipeline image of the current frame, and if no obstacle exists, obtaining the world coordinate position of the current frame based on the moving distance of the current frame and the mapping relation; controlling the robot to move linearly based on the current frame world coordinate position, the current frame moving speed, the given position and the given speed; if the obstacle exists, obtaining the moving speed of the current frame based on the moving distance of the current frame and the shooting period; and controlling the robot to rotate based on the current frame rotation matrix, the current frame movement speed, the given attitude angle and the given speed. According to the invention, the robot is controlled to complete linear and rotary motion with high precision.

The invention discloses a crawling mechanism for a peristaltic cable robot, belonging to the technical field of the detection of the robot. The crawling mechanism for the peristaltic cable robot comprises a peristaltic crawling mechanism and a safe backhaul mechanism, wherein the peristaltic crawling mechanism comprises a driving wheel device, a driven wheel device, a slider-crank mechanism, a control box and a sensor; the driving wheel device is divided into a main upper frame locking wheel device and a main lower frame holding wheel device, the driven wheel device is divided into a subsidiary upper frame locking wheel device and a subsidiary lower frame holding wheel device, and the two frames are respectively connected with a spring by at least two of connecting bolts and nuts; the slider-crank mechanism is connected with the driving wheel device and the driven wheel device; and the safe backhaul mechanism comprises an escape wheel and an escape claw. The crawling mechanism for the peristaltic cable robot provided by the invention is simple and reliable in structure, and provided with an energy resource by itself, the safe backhaul mechanism is simple, and the crawling mechanism can be used for detecting the cable with the large diameter from 120mm to 200mm and the gradient range from 0 degree to 90 degrees.

The invention relates to a two-degree-of-freedom digging line robot based on the combination driving technology. The two-degree-of-freedom digging line robot comprises an upper rotating mechanism, a lower rotating mechanism and a locking speed limiting device, wherein the upper rotating mechanism and the lower rotating mechanism are movably arranged on the upper side and the lower side of a middle driving mechanism. The middle driving mechanism comprises a driving support, an upper driving motor, an upper driving gear, a lower driving motor, a lower driving gear and a plurality of storage batteries. The upper rotating mechanism comprises an upper rotating support, upper rollers are arranged on the upper rotating support, a tension spring is arranged between every two adjacent upper rollers, and the upper rollers are inclined relative to the plane where the driving support is located. The lower rotating mechanism comprises a lower rotating support, lower rollers are arranged on the lower rotating support, tension springs are arranged between the adjacent upper rollers or the adjacent lower rollers, the upper rollers and the lower rollers are inclined relative to the plane where the driving support is located, and the lower rollers are not parallel to the upper rollers. By means of the two-degree-of-freedom digging line robot, any two-degree-of-freedom control over a digging line in the axial direction and the transverse direction can be achieved, the failure falling speed can be limited, and rotation of the two-degree-of-freedom digging line robot around the digging line is limited.

The present invention refers to an automated painting system on oil ships, being executed by a mobile platform and an oscillating arm. The assembly only works due to the control of cables, winders and wheels. This approach is aimed at painting large vertical walls. The painting deck suspension uses four cables, each connected to a pivot on the mobile platform, and two fixed pivots plus four winders. The winders contain a servo motor in a synchronous serial network. The cables are made of reduced-weight polyethylene. Each cable is connected exclusively to one winder. Suspension is achieved with the aid of two adapted cranes and initialization through the addition of a giraffe-type crane.

The invention relates to a mechanism for connecting two components, in particular to a novel built-in connecting mechanism for water surface salvage cable robots, which connects a cylinder body and a ball end body or a tail cone body. The connecting mechanism comprises a connecting ring plate, wherein a plurality of flanges are evenly distributed on the outer wall of the connecting ring plate; one side surface of the connecting ring plate is provided with at least one stop key; a plurality of protrusions are evenly distributed on the outer wall of a cylinder body connecting end; axial insertion grooves corresponding to the flanges are formed between every two adjacent protrusions; the connecting ring plate is inserted into the end part of the cylinder body connecting end through the axialinsertion grooves; the end part of the cylinder body connecting end is provided with a radial ring groove for holding the connecting ring plate; a connecting screw is arranged on the ball end body orthe tail cone body and is connected with the connecting ring plate; and O-shaped sealing rings are respectively arranged between the connecting screw and the ball end body or the tail cone body as well as between the ball end body or the tail cone body and the cylinder body. The connecting mechanism is also applicable to the detachable connection among cylindrical parts in other fields, and has the advantages of compact and reliable connection, capability of reducing underwater resistance for robots, simple and rapid operation and wide application range.

The present invention relates to an automated painting system for oil tankers, which includes a mobile platform and an oscillating arm. The assembly only works by controlling cables, reels and wheels. This approach is aimed at painting large vertical walls. The painting platform is suspended by four cables, each cable being attached to a pivot on the mobile platform and two fixed pivots in addition to four winders. The winders contain a servomotor in a synchronous serial system. The cables are made of low-weight polyethylene. Each cable is attached to its own winder. Suspension is carried out with the aid of two tailored cranes and initiated by a further giraffe crane.