53 results about "Cable robot" patented technology

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.

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.

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 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.

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 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.