Multi-arm collaborative flexible cable obstacle crossing operation robot

Abstract

The invention discloses a multi-arm collaborative flexible cable obstacle crossing operation robot which comprises a frame type box body, a sliding swing mechanism is arranged at the top of the frame type box body, and the sliding swing mechanism is connected with a front movement arm, a middle movement arm and a rear movement arm; the front moving arm and the rear moving arm are symmetrically arranged on the front side and the rear side of the frame type box body; the front moving arm comprises a moving arm bottom plate, a direct-drive roller mechanism, a cable pressing mechanism, a first swinging mechanism and a first lifting mechanism; a moving arm framework is hinged to the moving arm bottom plate, and the direct-drive roller mechanism and the cable pressing mechanism are fixed to the moving arm framework. The first lifting mechanism is arranged below the moving arm bottom plate; the middle moving arm is arranged in the frame type box body and comprises a rope holding mechanism and a second lifting mechanism, and the rope holding mechanism is arranged at the top of the second lifting mechanism; the sliding swing mechanism comprises a sliding mechanism and two second swing mechanisms. The robot is high in obstacle crossing ability, good in safety and stability, suitable for large-sag flexible cables and high in detection precision.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-arm cooperative flexible cable obstacle crossing operation robot. Background technique [0002] As a special engineering structure, flexible cables are used in structures with certain spans such as aerial ropeways, bridges and civil engineering. Due to the long-term exposure of the cable to the wild, it will inevitably cause broken strands, loose strands, rust, displacement, lightning strikes, contamination, wear and oxidation and corrosion of the metal fittings on the cable, which will cause safety accidents and cause damage to people's lives and industrial enterprises. huge economic loss. Therefore, it is necessary to regularly inspect and maintain the rope to ensure safe operation. [0003] The early soft cable inspection method mainly relied on manual inspection and helicopter inspection. Manual inspection is labor-intensive, the ground personnel are far...

AI Technical Summary

Problems solved by technology

Manual inspection is labor-intensive, the ground personnel are far away from the soft cable, the detection accuracy is low, and inspection cannot be performed in harsh environments such as strong wind and fog; the helicopter inspection method needs to train pilots, the operation procedures are cumbersome, and the cost is high

[0004] The inspection method of the robot uses the flexible cable as the working path, which can approach the flexible cable at close range, and detects the damage of the flexible cable by carrying the sensor itself, which greatly improves the detection quality. Defects such as limited capacity and poor climbing ability have brought inconvenience to the inspection of flexible cables

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