CN118700177A - Rope crawling robot and excitation method thereof - Google Patents
Rope crawling robot and excitation method thereof Download PDFInfo
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- CN118700177A CN118700177A CN202411192614.4A CN202411192614A CN118700177A CN 118700177 A CN118700177 A CN 118700177A CN 202411192614 A CN202411192614 A CN 202411192614A CN 118700177 A CN118700177 A CN 118700177A
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- 230000009193 crawling Effects 0.000 title claims abstract description 166
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005284 excitation Effects 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 150000001875 compounds Chemical class 0.000 claims abstract description 9
- 229920001971 elastomer Polymers 0.000 claims description 8
- 239000000806 elastomer Substances 0.000 claims description 8
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 13
- 230000009471 action Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
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Abstract
The application relates to the field of special robots, in particular to a rope crawling robot and an excitation method thereof, wherein the rope crawling robot comprises: a frame; the elastic body is in a strip shape and is horizontally arranged on the rack; two piezoelectric sheet groups; the two guide mechanisms are arranged on the frame and are respectively arranged on the front side and the rear side of the elastic body; the first piezoelectric sheet and the second piezoelectric sheet are used for respectively generating Y-direction vibration and X-direction vibration when an alternating current signal is connected, so that the middle part of the elastic body generates compound vibration to perform elliptical motion. The rope crawling robot can solve the problem that the existing rope robot cannot have the advantages of simple structure, small volume, small mass, quick response and high action precision, and has the advantages of simple structure, small volume, small mass, quick response and high action precision.
Description
Technical Field
The application relates to the field of special robots, in particular to a rope crawling robot and an excitation method thereof.
Background
The rope robot is a special robot capable of carrying relevant equipment to crawl on a rope and performing high-altitude long-distance operation, and has the main functions of moving along the rope in an aerial operation environment to replace people to finish the tasks of inspection, photographing, object delivery, cleaning, spraying and the like. The existing rope robot is generally driven by pneumatic, hydraulic or electromagnetic motors, but the rope robot driven by pneumatic is complex in structure, low in precision and slow in response, the rope robot driven by hydraulic is large in size, large in mass and slow in response, and the electromagnetic motors are dependent on transmission components, so that the rope robot driven by the mode is large in mechanism and large in size, and therefore the existing rope robot cannot have the advantages of being simple in structure, small in size, small in mass, fast in response and high in action precision.
Accordingly, the prior art is subject to improvement and development.
Disclosure of Invention
The application aims to provide a rope crawling robot and an excitation method thereof, and aims to solve the problem that the existing rope robot cannot have the advantages of simple structure, small volume, small mass, quick response and high action precision.
In a first aspect, the present application provides a rope crawling robot comprising:
A frame;
the elastic body is in a strip shape and is horizontally arranged on the frame, and a first groove is formed in the middle of the elastic body and is abutted against the top or the bottom of the rope;
The two piezoelectric sheet groups are respectively arranged at two ends of the elastic body;
The two guide mechanisms are arranged on the frame and connected with the ropes, are respectively arranged on the front side and the rear side of the elastic body and are used for carrying out rope traction guide on the frame;
each piezoelectric sheet group comprises a first piezoelectric sheet and a second piezoelectric sheet, and the first piezoelectric sheet and the second piezoelectric sheet are used for respectively generating Y-direction vibration and X-direction vibration when an alternating current signal is connected, so that the middle part of the elastic body generates compound vibration to perform elliptical motion.
The rope crawling robot provided by the application has the advantages of simple structure, small volume and small mass, and is suitable for ropes of various different materials; the rope crawling robot has the advantages of simple control method, quick response and high precision, and is suitable for various crawling angles; in addition, the front side and the rear side of the elastic body are provided with the guide mechanisms, so that the crawling stability of the rope crawling robot can be improved; the rope crawling robot can realize self-locking based on the friction force between the elastic body and the rope after the power is off, and is safe and reliable.
Optionally, the guiding mechanism comprises:
one end of the connecting rod is arranged on the frame;
the driven wheel is rotationally connected with the other end of the connecting rod and is arranged at the bottom of the rope when the first groove is abutted against the top of the rope or is arranged at the top of the rope when the first groove is abutted against the bottom of the rope.
Optionally, the frame is rotatably connected to one end of the link.
Optionally, the first groove abuts against the bottom of the rope, and the driven wheel is arranged at the top of the rope;
the rope crawling robot further comprises:
And the limiting mechanism is fixedly arranged on the frame and positioned below the elastic body and is used for limiting the height of the driven wheel.
In the embodiment, the rope crawling robot is provided with the limiting mechanism, the height of the driven wheel can be limited to prevent the driven wheel from being too high, and the isosceles triangle with the upward vertexes formed by the first groove and the two driven wheels can have a certain height, so that when the rope crawling robot is positioned on a rope, the driven wheel can be pressed against the top of the rope, and the first groove can be pressed against the bottom of the rope, and the rope crawling robot can be stably installed on the rope.
Optionally, the limiting mechanism includes:
one end of the elastic piece is arranged at the bottom of the frame, and the other end of the elastic piece is arranged on the connecting rod.
Optionally, the limiting mechanism includes:
And the limiting rod is horizontally arranged on the frame.
In the embodiment, the rope crawling robot is provided with the limiting rod, so that the connecting rod can be mechanically limited when the rope is tight or the rope crawling robot is heavy in load, and the rope crawling robot can be more firmly installed on the rope; and in the embodiment that the limiting mechanism comprises the elastic piece, the application can also prevent the elastic piece from being damaged due to the failure of the elastic piece caused by the excessive stretching of the elastic piece.
Optionally, the first piezoelectric sheet and the second piezoelectric sheet are identical in structure and each have a positive electrode terminal and a negative electrode terminal on the same face and a dividing line separating the positive electrode terminal and the negative electrode terminal;
the dividing line in the first piezoelectric sheet is parallel to the cord and perpendicular to the dividing line of the second piezoelectric sheet.
Optionally, the rope crawling robot further comprises:
Two wheel hub framves, all install in the frame and set up respectively at elastomer both ends, two wheel hub framves and elastomer middle part are formed with the second recess, and second recess degree of depth is greater than first recess degree of depth.
In a second aspect, the present application provides a method of activating a rope crawling robot for controlling a crawling rope of any one of the rope crawling robots described above;
the excitation method of the rope crawling robot comprises the following steps:
S1, acquiring crawling direction instruction information;
S2, applying alternating current signals to the piezoelectric sheet group according to the crawling direction instruction information, enabling the first piezoelectric sheet and the second piezoelectric sheet to respectively generate Y-direction vibration and X-direction vibration, enabling the elastic body to generate compound vibration to conduct elliptical motion, and enabling the rope crawling robot to crawl the rope according to the crawling direction corresponding to the crawling direction instruction information.
The excitation method of the rope crawling robot provided by the application has the advantages that the excited rope crawling robot is simple in structure, small in volume and small in mass, and is suitable for ropes of various different materials; the rope crawling robot has the advantages of simple control method, quick response and high precision, and is suitable for various crawling angles; in addition, the front side and the rear side of the elastic body are provided with the guide mechanisms, so that the crawling stability of the rope crawling robot can be improved; the rope crawling robot can realize self-locking based on the friction force between the elastic body and the rope after the power is off, and is safe and reliable.
Alternatively, the alternating current signal for generating the Y-direction vibration has the same frequency as the alternating current signal for generating the X-direction vibration, and the phase difference is ±pi/2.
From the above, the application provides the rope crawling robot and the excitation method thereof, wherein the rope crawling robot has the advantages of simple structure, small volume and small mass, and is suitable for ropes of various different materials; the rope crawling robot has the advantages of simple control method, quick response and high precision, and is suitable for various crawling angles; in addition, the front side and the rear side of the elastic body are provided with the guide mechanisms, so that the crawling stability of the rope crawling robot can be improved; the rope crawling robot can realize self-locking based on the friction force between the elastic body and the rope after the power is off, and is safe and reliable.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
Fig. 1 is a schematic structural diagram of a rope crawling robot under an angle according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a rope crawling robot provided by an embodiment of the application under another angle.
Fig. 3 is a schematic structural diagram of an elastomer and a piezoelectric sheet set according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a piezoelectric sheet set connected to an ac signal according to an embodiment of the present application.
Fig. 5 is a schematic diagram of the positive and negative ends of the first and second piezoelectric sheets according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of a first piezoelectric sheet and a second piezoelectric sheet according to an embodiment of the present application.
Fig. 7 is a schematic structural diagram of a guiding mechanism according to an embodiment of the present application.
Fig. 8 is a flowchart of an excitation method of a rope crawling robot according to an embodiment of the present application.
Description of the reference numerals: 1. A frame; 11. positioning clamping plates; 12. a mounting plate; 2. an elastomer; 21. a first groove; 22. a second groove; 3. a piezoelectric sheet group; 31. a first piezoelectric sheet; 32. a second piezoelectric sheet; 301. a positive terminal; 302. a negative terminal; 303. a dividing line; 4. a guide mechanism; 41. a connecting rod; 42. driven wheel; 5. a limiting mechanism; 51. an elastic member; 52. a limit rod; 6. a hub frame; 7. and positioning the shaft.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
In a first aspect, as shown in fig. 1,2 and 3, the present application provides a rope crawling robot, comprising:
a frame 1;
The elastic body 2 is in a strip shape, is horizontally arranged on the frame 1, has a first groove 21 in the middle and is abutted against the top or the bottom of the rope;
two piezoelectric sheet groups 3 respectively arranged at two ends of the elastic body 2;
The two guide mechanisms 4 are arranged on the frame 1 and connected with ropes, are respectively arranged on the front side and the rear side of the elastic body 2 and are used for carrying out rope traction guide on the frame 1;
each piezoelectric sheet group 3 comprises a first piezoelectric sheet 31 and a second piezoelectric sheet 32, and the first piezoelectric sheet 31 and the second piezoelectric sheet 32 are used for respectively generating Y-direction vibration and X-direction vibration when being connected with an alternating current signal, so that the middle part of the elastic body 2 generates compound vibration to perform elliptical motion.
Specifically, in the present application, "front" and "rear" refer to two directions in which the rope crawling robot crawls along the rope, Y-direction vibration refers to vibration performed in the up-down direction, and X-direction vibration refers to vibration performed in the front-rear direction.
More specifically, when the first piezoelectric sheet 31 and the second piezoelectric sheet 32 are connected with an alternating current signal, the first piezoelectric sheet 31 and the second piezoelectric sheet 32 generate Y-direction vibration and X-direction vibration, respectively, and transmit the respective vibrations to the elastic body 2, respectively, the middle part of the elastic body 2 generates vibration generated by the combination of the Y-direction vibration transmitted from the first piezoelectric sheet 31 and the X-direction vibration transmitted from the second piezoelectric sheet 32, that is, composite vibration, and the middle part of the elastic body 2 moves based on the composite vibration; and as known from the theory of vibration, when the frequencies of the two ac electric signals respectively applied to the first piezoelectric plate 31 and the second piezoelectric plate 32 are the same and the phase difference is ± pi/2, the motion track of the middle part of the elastic body 2 based on the composite vibration is a lissajous ellipse, and the ellipse track is coplanar with the motion track of the first piezoelectric plate 31 based on the Y-direction vibration and the motion track of the second piezoelectric plate 32 based on the X-direction vibration, so that the elliptical motion generated by the middle part of the elastic body 2 is similar to the rotation of a wheel, and the elastic body 2 can be moved forward or backward, so that the middle part of the elastic body 2 can be moved along the rope by only applying a specific ac electric signal to the first piezoelectric plate 31 and the second piezoelectric plate 32, and the elastic body 2 can drive the frame 1 to climb along the rope. In addition, the two piezoelectric sheet groups 3 are arranged at two ends of the elastic body 2, so that the elliptical motion direction of the middle part of the elastic body 2 can be kept unchanged.
More specifically, the guiding mechanism 4 is mounted on the frame 1 and connected with the rope, so that when the elastic body 2 drives the frame 1 to climb along the rope, the guiding mechanism 4 can pull and guide the frame 1, and the moving direction of the frame is kept unchanged.
More specifically, the operation equipment or the detection equipment such as a camera, a spray head, a mechanical arm and the like is arranged on the frame 1 according to the requirement, so that the rope crawling robot can be controlled to complete corresponding operation or detection tasks in the process of crawling along the rope.
More specifically, the rope crawling robot disclosed by the application has the advantages of fewer parts, simple structure, small volume and small mass, and is suitable for ropes of various different materials; the rope crawling robot is driven based on the elastic body 2 and the piezoelectric sheets, the rope crawling robot can crawl along the rope only by applying specific alternating current signals to the piezoelectric sheet group 3, and the rope crawling robot driven by the alternating current signals has strong climbing capacity and can overcome the influence of gravity on crawling along the obliquely arranged rope, so that the rope crawling robot has the advantages of simple control method, quick response, high precision and suitability for various crawling angles; in addition, the front side and the rear side of the elastic body 2 are provided with the guide mechanism 4, so that the crawling stability of the rope crawling robot can be improved; the rope crawling robot can realize self-locking based on the friction force between the elastic body 2 and the rope after power failure, and is safe and reliable.
The rope crawling robot has the advantages of simple structure, small volume and small mass, and is suitable for ropes made of various different materials; the rope crawling robot has the advantages of simple control method, quick response and high precision, and is suitable for various crawling angles; in addition, the front side and the rear side of the elastic body 2 are provided with the guide mechanism 4, so that the crawling stability of the rope crawling robot can be improved; the rope crawling robot can realize self-locking based on the friction force between the elastic body 2 and the rope after power failure, and is safe and reliable.
Preferably, the first piezoelectric sheet 31 and the second piezoelectric sheet 32 are both piezoelectric ceramic sheets.
Preferably, the frame 1 comprises:
The two positioning clamping plates 11 are respectively arranged at two ends of the elastic body 2, and the first piezoelectric sheet 31 and the second piezoelectric sheet 32 are respectively arranged at two ends of the positioning clamping plates 11;
the mounting plate 12 is fixedly arranged on the two positioning clamping plates 11.
In this embodiment, the present application provides the two positioning clamping plates 11 and the mounting plate 12, and can realize the mounting of other components of the rope crawling robot and the realization of the load detection device or the operation device on the premise that the elastic body 2 and the piezoelectric sheet group 3 do not contact with the other components of the rope crawling robot, thereby preventing the vibration of the elastic body 2 and the piezoelectric sheet group 3 from being affected by the movement of the other components of the rope crawling robot, the detection device or the operation device.
As shown in fig. 7, in some preferred embodiments, the guide mechanism 4 includes:
a link 41 having one end mounted on the frame 1;
The driven wheel 42 is rotatably connected with the other end of the connecting rod 41 and is arranged at the bottom of the rope when the first groove 21 is abutted against the top of the rope or is arranged at the top of the rope when the first groove 21 is abutted against the bottom of the rope.
Specifically, since the position of the driven wheel 42 on the rope is opposite to the position of the first groove 21 on the rope, when the rope crawling robot is arranged on the rope, one of the driven wheel 42 and the first groove 21 tightly presses the top of the rope, and the other tightly presses the bottom of the rope, and the directions of the forces applied to the rope by the driven wheel 42 and the first groove 21 are opposite, so that the two driven wheels 42 and the first groove 21 form an isosceles triangle, and the rope crawling robot is firmly arranged on the rope; when the elastic body 2 drives the frame 1 to climb along the rope, the driven wheel 42 can rotate on the rope to climb along with the frame 1, so that the rope traction guide of the driven wheel to the frame 1 can be realized.
In this embodiment, the rope crawling robot of the present application can be stably mounted on the rope, so that the stability of the rope crawling robot motion can be improved, and the rope traction guide of the driven wheel 42 to the frame 1 can be realized.
In some preferred embodiments, the frame 1 is rotatably coupled to one end of the link 41.
In this embodiment, the rope crawling robot of the present application can rotate the link 41 to make the driven wheel 42 reach a corresponding height when the rope crawling robot needs to be mounted on a rope, so that the driven wheel 42 is conveniently mounted on the rope; and the application can rotate the connecting rod 41 to store the driven wheel 42 in the frame 1 when the rope crawling robot does not need to be mounted on the rope, thereby facilitating the storage of the rope crawling robot.
Preferably, the rope crawling robot further comprises:
The positioning shaft 7 is fixedly arranged on the frame 1 and positioned below the elastic body 2, and one end of the connecting rod 41 is rotatably connected with the positioning shaft 7 so as to be rotatably connected with the frame 1.
In some preferred embodiments, the first groove 21 abuts the bottom of the rope, with the driven wheel 42 being provided at the top of the rope;
the rope crawling robot further comprises:
and the limiting mechanism 5 is fixedly arranged on the frame 1 and positioned below the elastic body 2 and is used for limiting the height of the driven wheel 42.
Specifically, when the rope is tight or the rope crawling robot is heavy, there is a possibility that the heights of the driven wheel 42 and the first groove 21 are not greatly different, that is, the isosceles triangle formed by the first groove 21 and the two driven wheels 42 is small, resulting in an unstable installation of the rope crawling robot. Therefore, in this embodiment, the rope crawling robot of the present application is provided with the limit mechanism 5, the height of the driven wheel 42 can be limited to prevent the driven wheel 42 from being excessively high, and the isosceles triangle formed by the first groove 21 and the two driven wheels 42 with the vertex facing upwards can have a certain height, so that the driven wheel 42 can be pressed against the top of the rope and the first groove 21 can be pressed against the bottom of the rope when the rope crawling robot is positioned on the rope, and the rope crawling robot can be stably mounted on the rope.
In some preferred embodiments, the limiting mechanism 5 comprises:
an elastic member 51 having one end mounted to the bottom of the frame 1 and the other end mounted to the link 41.
In this embodiment, the rope crawling robot of the present application can tighten the driven wheel 42 when the rope is loose or the rope crawling robot is lightly loaded, and increase the height difference between the driven wheel 42 and the first groove 21 so that the rope crawling robot is more firmly mounted on the rope; and the rope crawling robot of the present application can further tighten the link 41 when the rope is tight or the rope crawling robot is heavy, thereby enabling the rope crawling robot to be more firmly mounted on the rope.
Preferably, the elastic member 51 is a tension spring.
In some preferred embodiments, the limiting mechanism 5 comprises:
The limiting rod 52 is horizontally arranged on the frame 1.
In this embodiment, the rope crawling robot of the present application is provided with the limit lever 52 to mechanically limit the link 41 when the rope is tight or the rope crawling robot is heavy, so that the rope crawling robot can be more firmly mounted on the rope; and in embodiments in which the spacing mechanism 5 includes the elastic member 51, the present application also prevents the elastic member 51 from being damaged by failure due to excessive stretching of the elastic member 51.
In some other embodiments, the first groove 21 abuts the rope top, with the driven wheel 42 disposed at the rope bottom;
the rope crawling robot further comprises:
And the limiting mechanism 5 is fixedly arranged on the frame 1 and positioned above the elastic body 2 and is used for limiting the height of the driven wheel 42.
In this embodiment, the rope crawling robot of the present application is provided with the limit mechanism 5, which can limit the height of the driven wheel 42 to prevent the height of the driven wheel 42 from being too low, and can make the isosceles triangle formed by the first groove 21 and the two driven wheels 42 with a certain height with the vertex downward, so that the driven wheel 42 can be abutted against the bottom of the rope and the first groove 21 can be pressed against the top of the rope when the rope crawling robot is located on the rope, so that the rope crawling robot can be stably mounted on the rope.
Preferably, the limiting mechanism 5 comprises:
an elastic member 51 having one end mounted on the top of the frame 1 and the other end mounted on the link 41.
More preferably, the elastic member 51 is a compression spring.
Preferably, the limiting mechanism 5 comprises:
The limiting rod 52 is horizontally arranged on the frame 1.
As shown in fig. 5 and 6, in some preferred embodiments, the first piezoelectric sheet 31 and the second piezoelectric sheet 32 are identical in structure, each having a positive electrode terminal 301 and a negative electrode terminal 302 on the same plane, and a dividing line 303 separating the positive electrode terminal 301 and the negative electrode terminal 302;
The dividing line 303 of the first piezoelectric sheet 31 is parallel to the cord and perpendicular to the dividing line 303 of the second piezoelectric sheet 32.
In this embodiment, the rope crawling robot of the present application has the positive electrode terminal 301 and the negative electrode terminal 302 disposed on the same surface of the piezoelectric sheet, so that the vibration direction of the piezoelectric sheet can be perpendicular to the central axis of the elongated elastic body 2, and on the basis of this, the boundary 303 of the first piezoelectric sheet 31 of the present application is parallel to the rope, and perpendicular to the boundary 303 of the second piezoelectric sheet 32, so that Y-direction vibration and X-direction vibration of the first piezoelectric sheet 31 and the second piezoelectric sheet 32 can be respectively generated when alternating current signals are received, and thus the middle part of the elastic body 2 can be made to perform elliptical motion based on the piezoelectric sheet group 3 and two specific alternating current signals to drive the rope crawling robot to crawl along the rope.
Preferably, in each piezoelectric sheet group 3, the number of the first piezoelectric sheets 31 and the second piezoelectric sheets 32 is two, and the faces of the two first piezoelectric sheets 31 having the dividing line 303 are opposite to each other, and the faces of the two second piezoelectric sheets 32 having the dividing line 303 are opposite to each other.
In some preferred embodiments, the rope crawling robot further comprises:
The two wheel hub framves 6 are all installed on frame 1 and set up respectively in elastomer 2 both ends, and two wheel hub framves 6 are formed with second recess 22 with elastomer 2 middle part, and second recess 22 degree of depth is greater than first recess 21 degree of depth.
In this embodiment, the rope crawling robot of the present application is provided with the hub frames 6 at both ends of the elastic body 2, and can pull and guide the elastic body 2 during the process of crawling the rope crawling robot along the rope, thereby ensuring that the crawling direction of the rope crawling robot remains unchanged.
In a second aspect, as shown in fig. 8, the present application provides a method of activating a rope crawling robot for controlling a crawling rope of any one of the rope crawling robots as above;
the excitation method of the rope crawling robot comprises the following steps:
S1, acquiring crawling direction instruction information;
S2, applying alternating current signals to the piezoelectric sheet group 3 according to the crawling direction instruction information, so that the first piezoelectric sheet 31 and the second piezoelectric sheet 32 respectively generate Y-direction vibration and X-direction vibration, and the elastic body 2 generates compound vibration to perform elliptical motion, and the rope crawling robot crawls the rope according to the crawling direction corresponding to the crawling direction instruction information.
Specifically, the crawling direction instruction information comprises a forward crawling instruction and a backward crawling instruction, and the crawling robot can be controlled to crawl the rope according to the crawling direction corresponding to the crawling direction instruction information by applying the corresponding alternating current signal to the piezoelectric sheet group 3 based on the crawling direction instruction information.
The excitation method of the rope crawling robot has the advantages that the excited rope crawling robot is simple in structure, small in size and mass and suitable for ropes made of various different materials; the rope crawling robot has the advantages of simple control method, quick response and high precision, and is suitable for various crawling angles; in addition, the front side and the rear side of the elastic body 2 are provided with the guide mechanism 4, so that the crawling stability of the rope crawling robot can be improved; the rope crawling robot can realize self-locking based on the friction force between the elastic body 2 and the rope after power failure, and is safe and reliable.
In some preferred embodiments, as shown in fig. 4, the alternating current signal for generating Y-direction vibrations is the same frequency as the alternating current signal for generating X-direction vibrations, and has a phase difference of ± pi/2.
Specifically, in fig. 4, V1 is a first ac electric signal for generating Y-direction vibration of the first piezoelectric sheet 31, and V2 is a second ac electric signal for generating X-direction vibration of the second piezoelectric sheet 32. In one embodiment, when the first piezoelectric sheet 31 is connected to the first ac electric signal V1, the second piezoelectric sheet 32 is connected to the second ac electric signal V2, and the frequency of the first ac electric signal V1 is the same as that of the second ac electric signal V2 and the phase difference is pi/2, the middle part of the elastic body 2 generates compound vibration to perform elliptical motion, so that the elastic body 2 drives the frame 1 to crawl along the rope, the elliptical motion direction of the middle part of the elastic body 2 in this embodiment is taken as a first elliptical motion direction, and the direction of the elastic body 2 driving the frame 1 to crawl along the rope in this embodiment is taken as a first crawling direction; in another embodiment, when the first piezoelectric sheet 31 is connected to the first ac electric signal V1, the second piezoelectric sheet 32 is connected to the second ac electric signal V2, and the frequency of the first ac electric signal V1 is the same as that of the second ac electric signal V2 and the phase difference is-pi/2, the middle part of the elastic body 2 generates compound vibration to perform elliptical motion, so that the elastic body 2 drives the frame 1 to crawl along the rope, the elliptical motion direction of the middle part of the elastic body 2 in this embodiment is taken as the second elliptical motion direction, and the direction of the elastic body 2 driving the frame 1 to crawl along the rope in this embodiment is taken as the second crawling direction, so that the first elliptical motion direction and the second elliptical motion direction are opposite, and the first crawling direction is opposite to the second crawling direction; therefore, in the method for exciting the rope crawling robot, the rope crawling robot can crawl the rope according to the crawling direction corresponding to the crawling direction instruction information only by setting the phase difference of the two paths of alternating current signals according to the crawling direction instruction information.
From the above, the application provides the rope crawling robot and the excitation method thereof, wherein the rope crawling robot has the advantages of simple structure, small volume and small mass, and is suitable for ropes of various different materials; the rope crawling robot has the advantages of simple control method, quick response and high precision, and is suitable for various crawling angles; in addition, the front side and the rear side of the elastic body 2 are provided with the guide mechanism 4, so that the crawling stability of the rope crawling robot can be improved; the rope crawling robot can realize self-locking based on the friction force between the elastic body 2 and the rope after power failure, and is safe and reliable.
In the embodiments provided herein, it should be understood that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above embodiments of the present application are only examples, and are not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A rope crawling robot, comprising:
a frame (1);
The elastic body (2) is in a strip shape and is horizontally arranged on the frame (1), and a first groove (21) is formed in the middle of the elastic body and is abutted against the top or the bottom of the rope;
Two piezoelectric sheet groups (3) which are respectively arranged at two ends of the elastic body (2);
The two guide mechanisms (4) are arranged on the frame (1) and connected with the ropes, are respectively arranged on the front side and the rear side of the elastic body (2) and are used for carrying out rope traction guide on the frame (1);
each piezoelectric sheet group (3) comprises a first piezoelectric sheet (31) and a second piezoelectric sheet (32), and the first piezoelectric sheet (31) and the second piezoelectric sheet (32) are used for respectively generating Y-direction vibration and X-direction vibration when being connected with alternating current signals, so that the middle part of the elastic body (2) generates compound vibration to carry out elliptical motion.
2. A rope crawling robot according to claim 1, characterized in that said guiding mechanism (4) comprises:
A connecting rod (41) with one end mounted on the frame (1);
The driven wheel (42) is rotationally connected with the other end of the connecting rod (41), and is arranged at the bottom of the rope when the first groove (21) is abutted against the top of the rope, or is arranged at the top of the rope when the first groove (21) is abutted against the bottom of the rope.
3. A rope crawling robot according to claim 2, characterized in that said frame (1) is rotatably connected to one end of said link (41).
4. A rope crawling robot according to claim 3, characterized in that said first recess (21) abuts against the bottom of the rope, said driven wheel (42) being arranged on the top of the rope;
The rope crawling robot further comprises:
And the limiting mechanism (5) is fixedly arranged on the frame (1) and positioned below the elastic body (2) and is used for limiting the height of the driven wheel (42).
5. A rope crawling robot according to claim 4, characterized in that said limit mechanism (5) comprises:
And one end of the elastic piece (51) is arranged at the bottom of the frame (1), and the other end of the elastic piece is arranged on the connecting rod (41).
6. A rope crawling robot according to claim 4, characterized in that said limit mechanism (5) comprises:
And the limiting rod (52) is horizontally arranged on the frame (1).
7. A rope crawling robot according to claim 1, characterized in that said first piezoelectric sheet (31) and said second piezoelectric sheet (32) are structurally identical, each having a positive end (301) and a negative end (302) on the same face and a dividing line (303) separating said positive end (301) and said negative end (302);
The parting line (303) of the first piezoelectric sheet (31) is parallel to the rope and perpendicular to the parting line (303) of the second piezoelectric sheet (32).
8. A rope crawling robot as claimed in claim 1, the rope crawling robot is characterized by further comprising:
two wheel hub framves (6), all install on frame (1) and set up respectively elastomer (2) both ends, two wheel hub frame (6) with elastomer (2) middle part is formed with second recess (22), second recess (22) degree of depth is greater than first recess (21) degree of depth.
9. A method of activating a rope crawling robot, characterized by controlling a rope crawling robot crawling rope according to any one of claims 1-8;
the excitation method of the rope crawling robot comprises the following steps:
S1, acquiring crawling direction instruction information;
S2, applying alternating current signals to the piezoelectric sheet group (3) according to the crawling direction instruction information, so that the first piezoelectric sheet (31) and the second piezoelectric sheet (32) respectively generate Y-direction vibration and X-direction vibration, the elastic body (2) generates compound vibration to perform elliptic motion, and the rope crawling robot crawls the rope according to the crawling direction corresponding to the crawling direction instruction information.
10. The excitation method of a rope crawling robot of claim 9, wherein the alternating current signal for generating Y-direction vibrations is the same frequency as the alternating current signal for generating X-direction vibrations and has a phase difference of ± pi/2.
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| CN202411192614.4A CN118700177A (en) | 2024-08-28 | 2024-08-28 | Rope crawling robot and excitation method thereof |
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| CN202411192614.4A CN118700177A (en) | 2024-08-28 | 2024-08-28 | Rope crawling robot and excitation method thereof |
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| US6404103B1 (en) * | 1999-11-01 | 2002-06-11 | Seiko Instruments Inc. | Ultrasonic motor and electronic apparatus having ultrasonic motor |
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| CN116690627A (en) * | 2023-07-31 | 2023-09-05 | 季华实验室 | Mechanical clamping jaw and excitation method thereof |
| CN117008282A (en) * | 2023-09-22 | 2023-11-07 | 季华实验室 | Screw-type ultrasonic driving zoom lens and camera |
| CN117260673A (en) * | 2023-09-27 | 2023-12-22 | 清华大学 | Self-adaptive turning quick-dismantling cable track inspection robot |
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2024
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6404103B1 (en) * | 1999-11-01 | 2002-06-11 | Seiko Instruments Inc. | Ultrasonic motor and electronic apparatus having ultrasonic motor |
| CN201134644Y (en) * | 2007-12-26 | 2008-10-15 | 中国科学院沈阳自动化研究所 | Inspection robot walking clamping mechanism with fault release function |
| CN116690627A (en) * | 2023-07-31 | 2023-09-05 | 季华实验室 | Mechanical clamping jaw and excitation method thereof |
| CN117008282A (en) * | 2023-09-22 | 2023-11-07 | 季华实验室 | Screw-type ultrasonic driving zoom lens and camera |
| CN117260673A (en) * | 2023-09-27 | 2023-12-22 | 清华大学 | Self-adaptive turning quick-dismantling cable track inspection robot |
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