27 results about "Cable robot" patented technology

The invention discloses an anti-ocean-current trajectory tracking control method and system for a jet-arm submarine cable laying robot. The method comprises the steps that an anti-ocean-current motion model of the jet-arm submarine cable laying robot is constructed; acquiring a position error and a course tracking error according to a given reference trajectory based on the ocean current resistance motion model, and constructing a preset time controller; according to the preset time, the controller obtains a virtual controller of the jet arm seabed cable laying robot so as to define a longitudinal speed error and an angular speed error; constructing a parameter adaptive law according to the longitudinal velocity error and the angular velocity error; and constructing a disturbance observer based on the virtual controller and the parameter adaptive law to obtain an actual controller for ocean current trajectory tracking of the jet arm submarine cable laying robot. Aiming at the problem that an existing submarine cable laying robot cannot realize accurate trajectory tracking in a complex submarine environment, a more perfect ocean current resistance motion model is established, and a disturbance observer is introduced to estimate disturbance in real time so as to realize accurate control; a preset time theory is adopted, so that the system can be converged to a preset time, and the robustness is better; the disturbance observer is used to more accurately compensate the interference of ocean current of the seabed, and the anti-interference capability of the submarine cable laying robot is improved.

The invention relates to a small cable pipeline auxiliary construction pipeline robot, and belongs to the technical field of pipeline cable robots, the small cable pipeline auxiliary construction pipeline robot comprises a plurality of vehicle bodies which are sequentially arranged in the crawling direction, and every two adjacent vehicle bodies are hinged through a folding mechanism so as to adjust the included angle between every two adjacent vehicle bodies; each section of vehicle body is connected with a walking mechanism, and at least one walking mechanism is driven by a driving mechanism; the camera angle adjusting mechanism is arranged at the front end of the first vehicle body connected in sequence and comprises a camera box and a push rod mechanism, the infrared camera is arranged in the camera box, and the camera box is pushed to rotate through the push rod mechanism so as to adjust the pitch angle of the infrared camera; and the optical fiber interface is arranged at the rear end of the last vehicle body which is connected in sequence, and a waterproof sealing ring is arranged at the interface position of the optical fiber interface.

The invention discloses a parallel flexible cable robot rope driving device fused with planetary gears, and relates to the technical field of robots. The problem of rope length detection deviation is solved, and the driving capacity of the system under the working conditions of low-speed operation and high load is enhanced. The device comprises a base, a planetary gear driving module and a rope outlet module. The planetary gear driving module comprises a driving motor, a planetary gear train and a lead screw set. The front end of the lead screw group is connected to the base through a front support, and the rear end is connected with the guide optical axis through a connecting plate; the guide optical axis is connected to the base through a rear support; the rope outlet module is connected to the guiding optical shaft in a sliding mode and fixedly connected with the planetary gear train. The planetary gear train is connected to the lead screw set. The driving motor is arranged on the planetary gear train and can drive the rope outlet module through the planetary gear train to achieve rotation and linear composite motion at the same time, and therefore the rope length change deviation of a transition area between spiral groove rings in the rope outlet module is compensated.

The invention discloses an anti-falling control method of a main cable robot and the main cable robotic.The main cable robot is provided with a supporting wheel with an acceleration sensor, and the anti-falling control method comprises the steps that when the main cable robot works on a main cable handrail rope, mileage data collected by the acceleration sensor are obtained; and the movement trend of the main cable robot is judged according to the mileage data, and whether an anti-falling mechanism of the main cable robot needs to be started or not is determined according to the movement trend. It can be understood that when the main cable robot works on the main cable handrail rope, the acceleration sensor monitors the motion state of the main cable robot in real time, and therefore the motion trend of the main cable robot is determined; if the movement trend of the main cable robot does not conform to the movement setting of the main cable robot, it is indicated that the main cable robot has an uncontrollable risk, and the main cable robot starts an anti-falling mechanism, that is, each holding shoe assembly is forcibly started and tightly held on the main cable handrail rope.

The invention provides a tower device for a fly-rope robot and a fly-rope robot operation system, and belongs to the technical field of fly-rope robots, and the tower device comprises a traction tower provided with a traction unit; an end tower; the number of the bearing cables is at least two, and the two ends of the bearing cables are fixedly connected with the traction tower and the end tower correspondingly; the extension direction of the traction cable is parallel to the extension direction of the bearing cable, the traction cable is annularly arranged, the traction cable is connected with the traction tower and the end tower and can annularly slide relative to the traction tower and the end tower, and the traction unit is in driving connection with the traction cable to achieve movement of the traction cable; the tower bases are fixedly arranged at the bottom of the traction tower and the bottom of the end tower respectively. The tower device has the advantages that the tower base is fixed to the bottom of the traction tower and the bottom of the end tower and formed by concrete pouring, pulling resistance and foundation adhesive force are provided, and the overall rigidity and stability of the whole tower device for the fly rope robot are enhanced.

The application discloses a full-vector survey cluster system and a control method of work of the full-vector survey cluster system. The full-vector survey cluster system comprises multiple robots, wherein the multiple robots comprise a survey robot and at least one negative cable robot; the survey robot and the negative cable robot each comprise: a support body having opposite top and bottom sides; a vector rotor system comprising at least two sets of rotor assemblies, each rotor assembly being installed on the support body and providing vector power to the support body; and walking wheels arranged on the bottom side of the support body and used for walking cooperation with a working surface; the survey robot further comprises an information acquisition device installed on the support body and used for acquiring information data related to the working surface; and the negative cable robot further comprises a support base, and the survey robot and the negative cable robot are powered and communicated via a cable loaded on the support base in a working state. The full-vector survey cluster system can perform surface defect detection work on a natural building or an artificial building on the ground.

The present invention relates to an underwater cabled robot, preferably adapted as a cleaning platform, capable of selectively and effectively removing small and large debris from the seabed and from the water column beneath, with minimal impact on the marine ecosystem. The cleaning platform comprises: a floating barge or vessel having an opening providing access to a water column below the floating barge; and a submergible frame fitted with a tool adapted to collect debris underwater. At least three motor-driven winches are attached to the floating barge or vessel, and a system of cables extends through the opening of the floating barge or vessel and connects the winches with the frame. The control unit controls the operation of the capstan in a coordinated manner such that the frame can be moved within the three-dimensional work space under the floating barge or vessel by winding and unwinding the cable to collect debris from the seabed and water column.

This invention discloses an adaptive adjustment method for a main-cable robot and the main-cable robot itself. The method includes: controlling two lateral crawling mechanisms to move relative to each other along the width direction of the main-cable robot; acquiring the distance between the two lateral crawling mechanisms and their corresponding main-cable handrails to determine the change in the spacing between each lateral crawling mechanism and its corresponding main-cable handrail; if the spacing between the lateral crawling mechanism and its corresponding main-cable handrail changes from decreasing to increasing, determining whether the lateral crawling mechanism has moved into position relative to the main-cable handrail; if it is determined that both lateral crawling mechanisms have moved into position, placing the two lateral crawling mechanisms of the main-cable robot onto the two main-cable handrails respectively. It can be understood that when the main-cable robot is placed downwards, the position of the lateral crawling mechanisms is adjusted along the width direction, and by detecting the change in the spacing between the lateral crawling mechanisms and the main-cable handrails, it is determined that the lateral crawling mechanisms have been approximately adjusted to a suitable position.

The invention relates to the field of underwater positioning, and particularly discloses an underwater cable type robot positioning method and system, and the method comprises the steps: S1, enabling a robot to be placed underwater through an unmanned ship and an umbilical cable laying device; s2, continuously collecting positioning information of the robot; s3, processing the obtained positioning information, and outputting a positioning result; and S4, repeating the steps S2-S3, and continuously obtaining the position information of the robot. The method is high in positioning precision, integrates inertial navigation and ultra-short baseline positioning data, and is higher in precision than inertial navigation, an acoustic positioning method and a traditional integrated navigation method. And meanwhile, original observation is directly fused, so that the problem of error accumulation caused by firstly calculating the absolute position of the ultra-short baseline and then fusing with inertial navigation in a traditional integrated navigation method is avoided. In addition, the robustness of the method is enhanced, and when USBL signals are interrupted or partial observation is abnormal, the positioning precision can still be maintained through other observation data.

The application discloses a kind of main cable robot and the anti-falling control method of main cable robot, wherein the main cable robot is provided with support wheel with acceleration sensor, the anti-falling control method includes: when the main cable robot works on the main cable hand rope, the mileage data collected by the acceleration sensor is obtained;According to the mileage data, the motion trend of the main cable robot is judged, and whether the anti-falling mechanism of the main cable robot needs to be started is determined according to the motion trend.It can be understood that when the main cable robot works on the main cable hand rope, the acceleration sensor monitors the motion state of the main cable robot in real time, so as to determine the motion trend of the main cable robot;If the motion trend of the main cable robot is not consistent with the motion setting of the main cable robot itself, it means that the main cable robot has uncontrollable risk, and the main cable robot starts the anti-falling mechanism, that is, each boot component is forced to start and is held tightly on the main cable hand rope.

To provide a cable that can prevent noise radiation to its surroundings and also prevent noise ingress thereto from the surroundings, without causing an increase in volume or weight.SOLUTION: A cable connects an electric motor and a controller. The cable includes a power line that feeds power to the electric motor, and the power line includes a plurality of twisted core wires.SELECTED DRAWING: Figure 2

In a robot system comprising a space robot device with at least one movable robot element and at least one actuator for moving the at least one robot element, a support device for supporting the robot device when the space robot device is used on Earth, and a force application element that is connected to the robot element at least at one point and applies at least one force to the robot element that at least partially compensates for the force of gravity acting on the robot element, it is provided that the support device is a cable robot system that has at least two cable elements that are connected to the force application element, wherein each cable element is connected to at least one motor that can move the respective cable element, such that the direction and amount of force that can be applied to the robot element via the force application element can be adjusted.

The invention relates to the technical field of inspection robots, in particular to a cable robot capable of crossing obstacles, which comprises a shell, the top surface of the shell is connected with two transverse slide rails, the middle parts of the transverse slide rails are connected with a base, two sides of the base are respectively provided with a base II, and the bases II are in sliding connection with the transverse slide rails; the top of the base and the top of the second base are each connected with a sleeve, an insertion pipe is rotationally connected into each sleeve, the top wall of each insertion pipe is connected with the bottom wall of the corresponding sleeve through a torsional spring, the top of each insertion pipe is connected with a guide wheel through a driving part, and the sleeves are arranged in the device and are rotationally matched with the insertion pipes and connected with the insertion pipes through torsional springs. The rotating guide wheel can move in the direction away from the obstacle so as to avoid the obstacle and keep contact fit with the obstacle at the same time, so that the guide wheel is in friction fit with the cable quickly after crossing the obstacle, and the device is prevented from falling off.

The present invention relates to the field of underwater positioning, and specifically discloses an underwater cabled robot positioning method and system. The method steps include: S1. Placing the robot underwater through an unmanned ship and an umbilical cable deployment device; S2. Continuously collecting the positioning information of the robot; S3. Processing the obtained positioning information and outputting a positioning result; S4. Repeating S2-S3 to continuously obtain the position information of the robot. The positioning of the present invention has high accuracy, integrates data from inertial navigation and ultra-short baseline positioning, and has higher accuracy than inertial navigation, acoustic positioning methods, and traditional integrated navigation methods. At the same time, it directly integrates the original observations, avoiding the error accumulation problem in the traditional integrated navigation method of first calculating the absolute position of the ultra-short baseline and then fusing it with inertial navigation. In addition, the robustness of the present invention is enhanced, and the positioning accuracy can still be maintained through other observation data when the USBL signal is intermittent or some observations are abnormal.

The invention relates to the technical field of program control, in particular to a cable insertion method and device for a server, electronic equipment and a storage medium, and the method comprises the steps: obtaining at least one cable parameter of at least one cable to be inserted into the server; judging whether the at least one cable meets a preset cable grabbing condition or not according to the at least one cable parameter; if the at least one cable meets the preset cable grabbing condition, corresponding inserting actions of at least one cable inserting robot are generated based on the at least one cable parameter, and the inserting actions comprise the inserting moment, the inserting track and the inserting posture; and controlling the at least one cable robot to insert the at least one cable into the server according to the insertion posture and the insertion track at the insertion moment. Therefore, the technical problems that in the related technology, insertion of only one structure can be achieved through machine operation at a time, efficiency is low, and the insertion action is affected due to the fact that action conflicts are prone to being generated when multiple machines are operated at the same time are solved.

The invention relates to the field of steel cable robots, in particular to a stabilizing device for self-adaptive attachment of an end effector of a steel cable robot to a working face. A mounting sleeve is arranged at the center of the bottom of the connecting top plate, and the steel cable body is arranged in the mounting sleeve; the mounting frame is connected with the rotating arm through a first rotating shaft, a ball joint groove is formed in the inner end of the rotating arm, a ball joint rotary knob is rotationally connected into the ball joint groove, a connecting frame is arranged at the inner end of the ball joint rotary knob, and the connecting frame is connected with the stabilizing roller through a second rotating shaft; the four corners of the bottom of the connecting top plate are elastically connected with the four corners of the top of the working plate through first elastic connecting assemblies, the left end and the right end of the top of the working plate are connected with the connecting bases through second elastic connecting assemblies, and the tops of the connecting bases are in contact connection with the steel cable body; according to the stabilizing device, the whole stabilizing device can effectively and conveniently carry out adaptive stabilizing treatment, and therefore safe work treatment of the whole steel cable robot can be facilitated.

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.

The utility model provides a power supply signal cable and a fly rope robot, and belongs to the technical field of robot equipment, and the power supply signal cable comprises a signal label group which comprises a plurality of signal labels which are connected in series; a mounting cavity is formed in the separation insulation sleeve, and the signal tag group is arranged in the separation insulation sleeve and used for being read by a reader-writer in the fly rope robot; the power supply part is located on the outer wall of the separation insulation sleeve, and the power supply part is used for supplying power to the fly rope robot; the cable has the advantages that the power supply part is arranged outside the signal label group, so that the power supply cable has the capability of carrying data and position information of a traveling point while the normal power supply function of the cable is maintained; in addition, a separation insulation sleeve is arranged between the signal label group and the power supply part, and the separation insulation sleeve plays a role in electric insulation.

The invention discloses a machine-mounted power transmission line lead net blocking robot, belongs to the field of aerial work robots, and solves the problems of high risk and low efficiency of manual net blocking operation, the technical scheme for solving the problem is that the machine-mounted power transmission line lead net blocking robot mainly comprises a walking mechanism and a net blocking wiring mechanism, the walking mechanism comprises a machine shell, a walking driver and walking wheels, the walking driver drives the walking wheels to walk on the wire, the blocking and wiring mechanism comprises a mounting base and a plurality of wiring clamps, each wiring clamp comprises a connecting base, a first clamp body and a second clamp body, the first clamp body and the second clamp body are used for clamping the wire, a magnetic attraction base is arranged on the lower side of the mounting base, and the magnetic attraction base controls magnetic field changes to attract or release the connecting base. The magnetic attraction seat attracts the connecting seat to open the first clamp body and the second clamp body so as to loosen the wire, and the magnetic attraction seat releases the connecting seat to close the first clamp body and the second clamp body so as to clamp the wire. The method is mainly used for reducing the operation risk and improving the operation efficiency.

The invention discloses a main cable bolt detection method and a main cable robot, and the detection method comprises the steps: obtaining risk data information collected by a camera module when the main cable robot crawl along a main cable; according to the risk data information, whether the to-be-detected bolt on the cable clamp has the risks of loosening and falling off is judged; if the risk exists, recording the position information and the risk condition of the to-be-detected bolt; and if the risk does not exist, the mechanical arm is controlled to carry the detection module to the position where the to-be-detected bolt is located, and anomaly detection is conducted on the to-be-detected bolt. It can be understood that the to-be-detected bolts with obvious problems can be quickly screened out by using the camera module so as to enter subsequent maintenance processing; and then, the detection module is used for detecting the to-be-detected bolt detected by the camera module, so that the abnormal to-be-detected bolt is screened out, and subsequent maintenance processing is carried out, and therefore, the detection of the to-be-detected bolt can be rapidly completed by utilizing the cooperation of the camera module and the detection module in the detection method.

The invention discloses a cable climbing robot, and relates to the technical field of cable detection equipment. The cable robot aims at solving the problem that in the climbing operation process of a cable robot, large pre-pressure is applied to a cable, and consequently the cable is secondarily damaged. The cable climbing robot comprises a plurality of racks, a first connecting rod and a duct propelling assembly. The multiple racks are distributed at intervals in the first direction, and cable through cavities are formed in the racks in the first direction. The first connecting rod is fixedly connected with the multiple racks in the first direction, and preset equipment is installed among the multiple racks. The duct propelling assembly is connected with at least one of the rack and the first connecting rod, and the duct propelling assembly is at least used for providing propelling force in the first direction. According to the cable maintenance device, the pre-pressure applied to the cable in the maintenance process can be reduced or avoided, so that secondary damage such as scraping or abrasion to the cable in the maintenance operation process is avoided, the stability of the cable is improved, and the service life of the cable is prolonged.

The present invention discloses a pre-tightening drive device for a pre-tightening type rope climbing robot, the pre-tightening type rope climbing robot comprises a first frame support rod and a second frame support rod arranged along the direction of the cableway of the inclined cable bridge, and several jumper plates that are bridged and fixedly connected between the first frame support rod and the second frame support rod; the pre-tightening drive device comprises a first drive assembly and a second drive assembly that are arranged back to back and fixed at the bottom of the jumper plate and together form an eight-shaped shape, and a pre-tightening mechanism that is connected to the jumper plate at the top and is used to adjust the opening degree of the eight-shaped shape formed by the first drive assembly and the second drive assembly. The present invention has the advantages of simple structure, convenient installation, simple adjustment, stable operation, and overall light weight, and has high practical value and promotion value in the field of rope climbing robot technology.

The present application discloses a cable climbing robot, which relates to the technical field of cable detection equipment. It aims to solve the problem of secondary damage to the cable caused by the large pre-pressure applied to the cable by the cable robot during the climbing operation. The cable climbing robot includes a plurality of racks, a first connecting rod and a ducted propulsion assembly. The plurality of racks are spaced apart along the first direction, and the racks are provided with cable passage cavities along the first direction. The first connecting rod is fixedly connected to the plurality of racks along the first direction, and preset equipment is installed between the plurality of racks. The ducted propulsion assembly is connected to at least one of the rack and the first connecting rod, and the ducted propulsion assembly is at least used to provide propulsion along the first direction. It can reduce or avoid the pre-pressure applied to the cable during the maintenance process, so as to avoid secondary damage such as scratches or wear on the cable during the maintenance operation, which is beneficial to improving the stability and service life of the cable.

The present invention relates to a method for parameterizing a cable-driven photogrammetric robot comprising a frame, a mobile platform on which at least one camera is mounted, and a plurality of cables, each cable extending from an attachment point on the mobile platform to a position-adjustable exit point while remaining connected to the frame. The robot's maximum working space is defined by the ranges of possible positions of the various cable exit points. Furthermore, a set of position and orientation pairs for the platform is determined to perform photogrammetric measurements of points in a scene.A genetic algorithm is then applied, comprising crossover, mutation, and selection operations, to a population of vectors representing each of the respective positions of the cable exit points. Selection is performed using a fitness function that employs at least a first objective function evaluating a collision percentage and a second objective function evaluating a violation percentage of an equilibrium constraint of the mobile platform when it assumes the aforementioned different positions and orientations. Figure for the abstract: Fig. 5.

The utility model discloses a cable robot, which relates to the technical field of robots, and comprises a main body frame which can be held on the outer side of a cable, and one end of the main body frame is provided with nondestructive detection equipment and visual detection equipment; the pressing mechanism is arranged in the main body frame and comprises a connecting rod assembly and an elastic assembly, a climbing wheel is arranged on the connecting rod assembly, and the elastic assembly can drive the climbing wheel to be fixedly connected with the side wall of the cable in an abutting mode; and the driving mechanism is in transmission connection with the climbing wheel and can drive the climbing wheel to rotate along the axial side wall of the cable. The cable robot provided by the utility model is high in safety and convenient for cable detection.

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 task of the invention is to create a 3D printer to produce, for example, bone substitutes or organ substitutes or other objects such as prostheses from organically compatible materialsCable robot 3D printer (1), comprising a cable robot (1) with eight cables (2) or straps (2), wherein the cables (2) or straps (2) are detachably attached at a first end (3) to a print head (4) and are guided from the print head (4) to a respective cable drum (5), and the other second end (6) of the cables (2) or straps (2), which is opposite the print head (4) in each case, can be wound in the cable drum (5) in a planar, crossing-free manner wherein the cable drums (5) are arranged within a working space (7) and wherein the cable drums (5) are drivable and the drives (8) of the cable drums (5) are arranged outside or inside the working space (7), and in that at least one material feed (9) and at least one nozzle (10) are provided on the print head (4).Method for detecting the position and for changing the position of the print head (4) of a cable robot 3D printer (1), comprising a cable robot (1) with eight cables (2) or belts (2) which are guided from a print head (4) to a respective cable drum (5),characterized in thatthe cables (2) or straps (2) are wound in the cable drum (5) in a planar crossing-free manner and, for a control circuit for detecting the desired position, the respective cable lengths, which are detected via encoders on the drives (8), are determined as measured variables and the cable forces are determined as manipulated variables of the control circuit.