Cable Mobile Robot Caterpillar Design for Twisted Wire Movement
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Solution Overview
Problem
Existing cable mobile robots face difficulties in smoothly moving along steel wire ropes due to the valleys and ridges formed by twisted wires, making it challenging to maintain contact and adjust tension effectively.
Innovation Solution
A caterpillar design with a rubber belt member and ultra-high molecular weight polyethylene resin panel member, along with tension adjusters and rotating members with concaves-convexes, increases the contact area and frictional force, allowing for easy movement along cables while adjusting tension and accommodating cable diameter changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a wheel is used for motion on the cable, then the structure is simple, but the wheel cannot move smoothly along the valleys and ridges formed by twisted wires
Solution Approach 1:
The patent uses a flexible belt member (caterpillar) instead of a rigid wheel to contact the cable. The belt can conform to the irregular surface of twisted wire ropes, allowing smooth movement over valleys and ridges while maintaining continuous contact. This resolves the contradiction by sacrificing structural simplicity for operational smoothness.
2Ease of operation
If the contact area between caterpillar and cable is increased, then the cable can be moved more easily, but the frictional force against the belt member increases
Solution Approach 1:
The patent employs a composite structure consisting of a belt member made of high-friction material (rubber or polyurethane) for cable contact, and a panel member made of ultra-high molecular weight polyethylene resin to support the belt and reduce friction. This composite approach allows the system to benefit from both high friction (for easy movement along the cable) and low friction (for reduced energy loss).
3Reliability
If the tension of the belt member is adjusted to maintain contact with the cable, then the contacting state is maintained, but the device complexity increases
Solution Approach 1:
The patent incorporates a tension adjuster that allows dynamic adjustment of the belt member's tension. This enables the system to adapt to varying cable diameters and maintain reliable contact throughout operation. The adjuster transforms a static structure into a dynamic one that can respond to changing conditions, resolving the contradiction between reliability and complexity.
4Adaptability or versatility
If multiple caterpillars are used to contact the cable, then the robot can move easily regardless of cable flexure, but the device complexity and weight increase
Solution Approach 1:
The patent uses multiple caterpillars (typically three) arranged around the cable to contact it at different positions. This segmentation allows the robot to maintain contact and move effectively even when the cable flexes or changes diameter. Each caterpillar independently adapts to local cable conditions, providing collective adaptability that outweighs the added weight.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The caterpillar effectively moves along cables with increased contact area and adjustable tension, reducing friction and maintaining contact despite cable flexure, ensuring stable operation even with changing cable diameters.
Implementation Method 1
Another purpose of the various embodiments of the present invention is to provide a belt member made of rubber to improve the frictional force against the cable so that the caterpillar can easily move along the cable.
Implementation Method 2
Another purpose of the various embodiments of the present invention is to provide a panel member made of an ultra high molecular weight polyethylene resin to support the belt member, thereby preventing the frictional force against the belt member and maintaining the contacting state between the cable and the belt member
Data Source
AI summary
Provided herein is a caterpillar for cable mobile robot and a cable mobile robot using the same, the caterpillar for cable mobile robot and cable mobile robot including a case; a plurality of first rotating members configured to rotate and distanced from one another inside the case; a second rotating member configured to rotate and provided between the first rotating members; a belt member mounted to the first rotating members and the second rotating member; and a tension adjuster located between the second rotating members and the first rotating member, and configured to support the belt member at its lower part so that the tension of the belt is adjusted.