Cable detection robot and working method thereof

Patent metadata

Field	Value
Publication number	US-2024383505-A1
Application number	US-202218692106-A
Country	US
Kind code	A1
Filing date	Mar 16, 2022
Priority date	Jan 21, 2022
Publication date	Nov 21, 2024
Grant date	—

Abstract

A cable detection robot and a working method thereof, wherein the cable detection robot includes: a first main body, a second main body, and a rotatable mechanism. The first main body and the second main body each include a support, a driving apparatus, and a holding apparatus; the driving apparatus includes a first wheel and a driving motor, to drive the first wheel to move along a cable through the driving motor; the holding apparatus is symmetrically arranged on two sides of the support, each side includes a first servo motor, connecting to a supporting wheel group; the supporting wheel group is perpendicular to a surface of the cable, the holding apparatus holds or is separated from the cable through rotation of the first servo motor, and relative positions of the first main body and the second main body are adjusted through the rotatable mechanism to implement obstacle surmounting.

First claim

1 - 10 . (canceled)

11 . A cable detection robot, comprising: a first main body, a second main body, and a rotatable mechanism connecting the first main body and the second main body, wherein the first main body and the second main body each comprise a support, and a driving apparatus and a holding apparatus arranged on the support;
the driving apparatus comprises a first wheel and a driving motor, to drive the first wheel to move along a cable through the driving motor; the holding apparatus is symmetrically arranged on two sides of the support, each side comprises a first servo motor, a first supporting rod, and a second supporting rod that are connected sequentially, an adjustable bracket is respectively arranged on the first supporting rod and the second supporting rod, and the adjustable bracket is connected to a supporting wheel group; a rotation joint configured to adjust the angle is arranged at a junction of the first supporting rod and the second supporting rod; the rotation joint connects the first supporting rod and the second supporting rod in a bolted connection manner, to adjust the rotation angle between the first supporting rod and the second supporting rod; an angle between the first supporting rod and the second supporting rod matches a diameter of the cable, the supporting wheel group is perpendicular to a surface of the cable by adjusting a height of the adjustable bracket and adjusting relative positions of the supporting wheel group and the surface of the cable, the holding apparatus holds or is separated from the cable through rotation of the first servo motor, and relative positions of the first main body and the second main body are adjusted through the rotatable mechanism to implement obstacle surmounting; the adjustable bracket comprises a first sleeve, a second sleeve, an elastic member, and a telescopic rod, the adjustable bracket is fixed to the first supporting rod and the second supporting rod through the first sleeve, the first sleeve is connected to the second sleeve, the telescopic rod is arranged in the second sleeve, and the telescopic rod is connected to the supporting wheel group through the elastic member; and the supporting wheel group comprises a chassis, and joints and second wheels arranged on the chassis; and the chassis is connected to the adjustable bracket, and the second wheels are connected at two ends of the chassis through the joints.

12 . The cable detection robot according to claim 11 , wherein the telescopic rod is provided with an inner cavity, the elastic member is arranged in the inner cavity, one end of the elastic member is fixed to the telescopic rod, and an other end is fixed to the supporting wheel group; or
a first sleeve thread is provided on an inner wall of the first sleeve, a bolt is connected to the first sleeve thread, and the adjustable bracket is fixed to the first supporting rod by squeezing the first supporting rod after the bolt is tightened; or a second sleeve thread is provided on an inner wall of the second sleeve, a bolt is connected to the second sleeve thread, and the telescopic rod is fixed to the adjustable bracket by squeezing the telescopic rod after the bolt is tightened.

13 . The cable detection robot according to claim 11 , wherein the chassis uses an I-shaped structure, a middle portion of the chassis is a protruding column, and the column is connected to a telescopic rod through an elastic member.

14 . The cable detection robot according to claim 11 , wherein the rotatable mechanism comprises a supporting bracket and a second servo motor; and the second servo motor is arranged on both the first main body and the second main body, and two ends of the supporting bracket are respectively connected to shafts of the second servo motors of the first main body and the second main body, to adjust the relative positions of the first main body and the second main body through the second servo motor; or
a controller is further arranged on the second main body, and the controller is connected to the driving motor, the first servo motor, and the second servo motor.

15 . The cable detection robot according to claim 11 , wherein the cable detection robot further comprises a multifunctional detection frame, and the multifunctional detection frame is arranged at an end of the first main body that is away from the second main body and an end of the second main body that is away from the first main body; or
the cable detection robot further comprises an obstacle surmounting assisting camera apparatus, the obstacle surmounting assisting camera apparatus is respectively arranged on the first main body and the second main body, and the obstacle surmounting assisting camera apparatuses are mounted opposite to each other, to observe the relative positions of the first main body and the second main body and an obstacle surmounting situation.

16 . A working method of the cable detection robot according to claim 11 , comprising:
adjusting the angle between the first supporting rod and the second supporting rod according to a diameter of a cable, placing the cable detection robot on the cable by adjusting the height of the adjustable bracket, and causing the second wheels of the supporting wheel group to be perpendicular to a surface of the cable by adjusting relative positions of the supporting wheel group and the surface of the cable; during obstacle surmounting, releasing the holding apparatus of the first main body, namely, separating the holding apparatus from the cable through rotation of the first servo motor, wherein in this case, the second servo motor of the first main body rotates to drive the first main body to be separated from the cable, and the second main body is used as a fulcrum to drive the second main body to move forward along a radial direction of the cable through the driving apparatus of the second main body; after the first main body surmounts an obstacle, rotating by the second servo motor of the first main body to drive the first main body to be placed on the surface of the cable, controlling the holding apparatus of the first main body to hold the cable, and controlling the holding apparatus of the second main body to release the cable, wherein in this case, the second servo motor of the second main body rotates to drive the second main body to be separated from the cable, and the first main body is used as a fulcrum to drive the first main body to move forward along the radial direction of the cable through the driving apparatus of the first main body; and after the second main body surmounts the obstacle, rotating by the second servo motor of the second main body to drive the second main body to be placed on the surface of the cable, and controlling the holding apparatus of the second main body to hold the cable, to implement obstacle surmounting.

17 . A working method of the cable detection robot according to claim 12 , comprising:
adjusting the angle between the first supporting rod and the second supporting rod according to a diameter of a cable, placing the cable detection robot on the cable by adjusting the height of the adjustable bracket, and causing the second wheels of the supporting wheel group to be perpendicular to a surface of the cable by adjusting relative positions of the supporting wheel group and the surface of the cable; during obstacle surmounting, releasing the holding apparatus of the first main body, namely, separating the holding apparatus from the cable through rotation of the first servo motor, wherein in this case, the second servo motor of the first main body rotates to drive the first main body to be separated from the cable, and the second main body is used as a fulcrum to drive the second main body to move forward along a radial directi

Assignees

• Univ Shandong
• Shandong Traffic Eng Supervision Consulting Co Ltd
• Shandong Expressway Bridge Eng Test And Inspection Co Ltd

Inventors

• Yang Zeying
• Wu Ke
• Gao Qingshui
• Zhang Canzhu
• Gao Xinxue
• Zhao Li
• Ma Kaikai
• Wang Huawei
• Li Yingyong
• Qu Jianbo
• Wang Chenghe
• Shan Chuanhao
• Qu Weisong
• Yang Qianyi
• Zhao Zhenyu
• Sun Rui
• Bi Chuanlong
• Duan Rongrong
• Qu Zhilin
• Wang Hongyun
• Zhang Xue

Classifications

• B61B12/02 Primary

  Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables · CPC title

• B62D57/024 Primary

  specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02) · CPC title

• E01D19/10

  Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges ({pipe-line bridges E01D18/00}; supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets, F16L3/00) · CPC title

• G01N17/00

  Investigating resistance of materials to the weather, to corrosion, or to light · CPC title