CN113428252A - Cable climbing robot - Google Patents
Cable climbing robot Download PDFInfo
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- CN113428252A CN113428252A CN202110943765.9A CN202110943765A CN113428252A CN 113428252 A CN113428252 A CN 113428252A CN 202110943765 A CN202110943765 A CN 202110943765A CN 113428252 A CN113428252 A CN 113428252A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a cable climbing robot, comprising: at least two groups of running mechanisms moving along the axial direction of the cable and adjusting mechanisms connected with the running mechanisms; the adjusting mechanism is used for adjusting the distance between the adjacent travelling mechanisms so that the cable climbing robot is suitable for cables with different cable diameters; the running mechanisms are uniformly distributed along the circumferential direction of the cable. The cable climbing robot provided by the invention can be suitable for cables with different cable diameters in the using process; and in the process of adjustment, the distance between adjacent travelling mechanisms can be directly changed, so that the method is applicable to a larger cable diameter change range.
Description
Technical Field
The invention relates to the technical field of cable maintenance equipment, in particular to a cable climbing robot.
Background
The cable is generally cylindrical, the cable and the suspension cable have a diameter of 50-180mm, the installation angle is inclined from 30 degrees to 90 degrees and is completely vertical, and the surface of the cable and the suspension cable is provided with a spiral rain line, a pit or other attachments with a diameter of 3-5 mm.
At present, the cable robot is generally suitable for cables with fixed cable diameters or small-range cable diameter changes, the small-range cable diameter changes are generally only used for obstacle crossing requirements, and the cable robot cannot have universality and certain limitations for cables with various specifications.
In summary, how to adapt the cable climbing robot to a larger cable diameter variation range is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a cable climbing robot, which can adjust the distance between adjacent traveling mechanisms through an adjusting mechanism during the use process, so as to be suitable for cables with different cable diameters; and in the process of adjustment, the distance between adjacent travelling mechanisms can be directly changed, so that the method is applicable to a larger cable diameter change range.
In order to achieve the above purpose, the invention provides the following technical scheme:
a cable climbing robot comprising: the device comprises at least two groups of travelling mechanisms moving along the axial direction of a cable and an adjusting mechanism connected with the travelling mechanisms;
the adjusting mechanism is used for adjusting the distance between the adjacent travelling mechanisms so as to enable the cable climbing robot to be suitable for cables with different cable diameters; the walking mechanisms are uniformly distributed along the circumferential direction of the cable.
Preferably, the running mechanism comprises a wheel assembly for contacting with the cable and a power transmission assembly for driving the wheel assembly to rotate;
the wheel assembly comprises two wheels which are coaxial and arranged at intervals.
Preferably, the surface of the wheel for contact with the cable is provided with a soft rubber.
Preferably, it is single running gear includes two sets ofly along the advancing direction interval of cable climbing robot sets up wheel assembly, and two sets ofly wheel assembly passes through synchronizing wheel, hold-in range conveying connection and is four-wheel drive system.
Preferably, the traveling mechanism is provided with a frame, two damping devices respectively arranged at the front end and the rear end of the frame, and a connecting frame, one end of the connecting frame is hinged with the damping device arranged at the front end of the frame, and the other end of the connecting frame is fixedly connected with the damping device arranged at the rear end of the frame.
Preferably, the adjusting mechanism comprises a screw rod, a first connecting block, a second connecting block arranged at an interval with the first connecting block, and two groups of three-connecting-rod structures;
the first connecting block is rotatably sleeved on the screw rod and is fixed relative to the axial position of the screw rod; the second connecting block is in threaded connection with the screw rod;
one ends of the two groups of three-connecting-rod structures are hinged to the first connecting block, and the other ends of the two groups of three-connecting-rod structures are hinged to the second connecting block;
the two groups of three-connecting-rod structures are respectively arranged on two sides of the screw rod to be respectively connected with the adjacent travelling mechanisms, and the connecting rods positioned in the middle of the two groups of three-connecting-rod structures are arranged in parallel with the screw rod.
Preferably, the adjusting mechanism is provided with a locking device for limiting the axial rotation of the screw rod.
Preferably, the self-locking mechanism is connected to at least one of the walking mechanism and the adjusting mechanism;
the self-locking mechanism is provided with a hanging ring used for connecting the load body and a sole tightly holding the cable under the gravity traction of the load body;
the load body is provided with a holding device for holding the cable tightly, and the self-locking mechanism is connected with the load body through a retractable winding device.
Preferably, the self-locking mechanism comprises a sole mounting seat, a first guide rail sliding block assembly and a second guide rail sliding block assembly, and the arrangement direction of the second guide rail sliding block assembly is perpendicular to that of the first guide rail sliding block assembly;
the sliding block of the first guide rail sliding block component is used for being connected with the adjusting mechanism, and the sliding block of the second guide rail sliding block component is used for being connected with the walking mechanism.
Preferably, the bottom of the sole mounting seat is fixedly provided with a connecting slide block, a slide rail which is matched with the connecting slide block and is connected with the sole, and an adjusting part for adjusting the pressure of the sole on the cable;
the adjusting part comprises a first connecting rod, a second connecting rod, a pull ring and a spring for connecting the sole and the sole mounting seat, the first connecting rod, the second connecting rod and the pull ring are hinged on the same hinge shaft, the first connecting rod is hinged on the sole mounting seat, and the second connecting rod is hinged on the sole.
In the process of using the cable climbing robot provided by the invention, firstly, the travelling mechanisms are required to be connected with the adjusting mechanism, the distance between the adjacent travelling mechanisms is adjusted through the adjusting mechanism, so that the travelling mechanisms are attached to the cable and have proper attaching force, the travelling mechanisms are controlled to act, and the cable climbing robot moves along the axial direction of the cable, thereby realizing the detection or maintenance of the cable.
Compared with the prior art, the cable climbing robot provided by the invention has the following beneficial effects in the using process:
(1) the device can be suitable for cables with different cable diameters, and the distance between adjacent travelling mechanisms can be directly changed in the adjusting process, so that the device can be suitable for a larger cable diameter change range;
(2) the self-locking mechanism is in an unpowered underactuated mode, has small self mass, can drive a load with larger mass and has high load capacity;
(3) the walking mechanism adopts a light-weight and low-power-consumption four-wheel drive structure, so that the climbing speed of the cable climbing robot is increased.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a first embodiment of a cable climbing robot provided by the invention;
FIG. 2 is a schematic structural view of a second embodiment of the cable climbing robot provided by the present invention;
FIG. 3 is a schematic structural diagram of a traveling mechanism;
FIG. 4 is a schematic view of the adjustment mechanism;
fig. 5 is a schematic structural view of the self-locking mechanism.
In FIGS. 1-5:
1 is a traveling mechanism, 101 is a wheel, 102 is a shock absorption device, 103 is a right-angle speed reducer, 104 is a motor, 105 is a connecting frame, 106 is a driver, 107 is a synchronous wheel, 108 is a synchronous belt, 109 is a supporting block, 110 is a vehicle frame, 2 is an adjusting mechanism, 201 is a screw rod, 202 is a first connecting block, 203 is a second connecting block, 204 is a locking device, 205 is a rotating wheel, 206 is a three-link structure, 2061 is a third link, 2062 is a fourth link, 2063 is a fifth link, 2064 is a sixth link, 3 is a self-locking mechanism, 301 is a foot palm, 302 is a foot palm mounting seat, 303 is a first guide rail slider assembly, 304 is a second guide rail slider assembly, 305 is a sliding rail, 306 is a spring, 307 is a lifting ring, 308 is a first link, 309 is a second link, 4 is a pulling rope, 5 is a load body, and 6 is a cable.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a cable climbing robot, in the using process, the distance between the adjacent travelling mechanisms can be adjusted through an adjusting mechanism, so that the robot is suitable for cables with different cable diameters; and in the process of adjustment, the distance between adjacent travelling mechanisms can be directly changed, so that the method is applicable to a larger cable diameter change range.
Please refer to fig. 1-5.
This particular embodiment provides a cable climbing robot, includes: at least two groups of running mechanisms 1 moving along the axial direction of the cable 6 and adjusting mechanisms 2 connected with the running mechanisms 1; the adjusting mechanism 2 is used for adjusting the distance between the adjacent travelling mechanisms 1 so that the cable climbing robot is suitable for cables 6 with different cable diameters; the running mechanisms 1 are uniformly distributed along the circumferential direction of the cable 6, so that the center of gravity of the running mechanisms 1 is centered.
Preferably, four groups of travelling mechanisms 1 are arranged, the travelling mechanisms 1 are arranged at intervals of 90 degrees in the circumferential direction of the cable 6, the adjusting mechanisms 2 are connected with the travelling mechanisms 1 on two adjacent sides, so that the travelling mechanisms 1 and the adjusting mechanisms 2 form a closed ring shape wound on the periphery of the cable 6, the size of the ring structure formed by the travelling mechanisms 1 and the adjusting mechanisms 2 can be changed by adjusting the adjusting mechanisms 2, and the adjusting mechanism is suitable for cables 6 with different cable diameters.
In the process of using the cable climbing robot provided by the specific embodiment, firstly, the running mechanism 1 needs to be connected with the adjusting mechanism 2, the distance between the adjacent running mechanisms 1 is adjusted through the adjusting mechanism 2, so that the running mechanisms 1 are attached to the cable 6 and the attaching force is appropriate, the running mechanisms 1 are controlled to act, and the cable climbing robot moves along the axial direction of the cable 6, thereby realizing the detection or maintenance of the cable 6.
Compared with the prior art, the cable climbing robot provided by the embodiment can be suitable for cables 6 with different cable diameters in the using process; in addition, in the adjusting process, the distance between the adjacent travelling mechanisms 1 can be directly changed, so that the method is suitable for a larger cable diameter change range.
On the basis of the above embodiment, as shown in fig. 3, the traveling mechanism 1 includes a wheel assembly for contacting the cable 6 and a power transmission assembly for driving the wheel assembly to rotate; the wheel assembly comprises two wheels 101 arranged coaxially and at a distance.
Two wheels 101 that set up coaxially lie in the in-process of cable 6 surface contact, and two wheels 101 all are with cable 6 line contact to from the cable 6 cross-section circle that the contact point of two wheels 101 and cable 6 is located, the tangent line of two contact points is the V-arrangement, can effectively increase the area of contact of wheel 101 and cable 6, increase frictional force, effectively avoid skidding of wheel 101.
Preferably, a soft rubber may be provided on the surface of the wheel 101 for contact with the cable 6 to increase the friction coefficient.
As shown in fig. 3, the traveling mechanism 1 includes wheels 101, a damping device 102, a right-angle reducer 103, a motor 104, a connecting frame 105, a driver 106, a synchronizing wheel 107, a synchronizing belt 108, a supporting block 109, and a frame 110, wherein the motor 104 is connected to the right-angle reducer 103, the driver 106 of the motor 104 is mounted on the frame 110, and the supporting block 109 is disposed on two sides of the frame 110 to protect an output shaft of the right-angle reducer 103; preferably, the motor 104 may be provided as a low-power motor 104 in order to reduce the power consumption and the overall mass of the running gear 1. The single traveling mechanism 1 comprises two sets of wheel assemblies arranged at intervals along the advancing direction of the cable climbing robot, the two sets of wheel assemblies are connected into a four-wheel drive system through synchronizing wheels 107 and a synchronizing belt 108 in a conveying mode, a set of wheel assemblies are arranged on two sides of a right-angle speed reducer 103, the rear end of a frame 110 is also provided with another set of wheel assemblies, and the four-wheel drive system can improve the traveling and obstacle crossing capacity of the cable climbing robot. The frame 110 is connected with the connecting frame 105 through the front and rear shock absorption devices 102, the front shock absorption device 102 is hinged with the connecting frame 105, and the rear shock absorption device 102 is fixedly connected with the connecting frame 105, so that the frame 110 can be adapted to the deflection generated by the front and rear wheels 101 when the front and rear wheels cross obstacles. The connecting bracket 105 is used for connecting with the adjusting mechanism 2, so that the running mechanism 1 and the adjusting mechanism 2 form an outer frame surrounding the cable 6.
In another specific embodiment, the adjusting mechanism 2 includes a screw 201, a first connecting block 202, a second connecting block 203 spaced from the first connecting block 202, and two sets of three-bar linkage structures 206; the first connecting block 202 is rotatably sleeved on the screw rod 201 and is fixed relative to the axial position of the screw rod 201; the second connecting block 203 is in threaded connection with the screw rod 201; one end of each of the two three-link structures 206 is hinged to the first connecting block 202, and the other end is hinged to the second connecting block 203; the two sets of three-link structures 206 are respectively arranged on two sides of the screw rod 201 to be respectively connected with the adjacent running gear 1, and the middle connecting rod in the two sets of three-link structures 206 is arranged in parallel with the screw rod 201.
As shown in fig. 4, the adjusting mechanism 2 includes a screw 201, a first connecting block 202, a second connecting block 203, a locking device 204, a rotary wheel 205, a three-link structure 206, a third link 2061, a fourth link 2062, a fifth link 2063, and a sixth link 2064; the first connecting block 202 is mounted at one end of the screw rod 201 through a bearing, the other end of the screw rod 201 is in threaded fit connection with the second connecting block 203, any one group of three-connecting-rod structures 206 comprises a third connecting rod 2061, a fourth connecting rod 2062 and a sixth connecting rod 2064 which are sequentially hinged end to end, the head end of the third connecting rod 2061 is hinged with the first connecting block 202, and the tail end of the sixth connecting rod 2064 is hinged with the second connecting block 203; the rotating wheel 205 and the locking device 204 are arranged at the end of the screw rod 201, the rotating wheel 205 can drive the screw rod 201 to rotate, the second connecting block 203 can be driven to be close to or far away from the first connecting block 202 in the rotating process of the screw rod 201, and the vertical linear distance between the fourth connecting rod 2062 and the screw rod 201 can be changed in the process that the second connecting block 203 is close to or far away from the first connecting block 202, so that the circumferential size of an outer frame formed by the traveling mechanism 1 and the adjusting mechanism 2 is changed, and the adjusting mechanism is suitable for cables 6 with different cable diameters. The second connecting block 203 can also adjust the pressure applied by the traveling mechanism 1 to the cable 6 during the process of approaching or departing from the first connecting block 202, thereby controlling the friction force during the traveling process of the traveling mechanism 1.
Preferably, the locking device 204 comprises an aluminum block for allowing the screw 201 to pass through and a rotating handle, and when the screw 201 is adjusted to a required position, the rotating handle locks the screw 201.
Preferably, a second link 309 is further included, one end of which is hinged to the second connecting block 203 and the other end of which is hinged to the fourth link 2062. as shown in fig. 4, the fifth link 2063 is arranged parallel to the sixth link 2064, so that the second connecting block 203 can be more stably moved toward or away from the first connecting block 202 during use.
In the process of using the cable climbing robot provided by the embodiment, when the robot carries a light load such as vision, the load can be directly mounted on the travelling mechanism 1, and the robot can realize the visual detection of the surface of the cable 6 when moving on the cable 6; when the cable climbing robot needs to drive the load of great weight, need install self-locking mechanism 3, the load is installed in load body 5, and load body 5 passes through stay cord 4 to be connected on self-locking mechanism 3, and the load can be the broken magnetic leakage MFL sensor of inside steel wire of detection, dedicated repair tools etc.. When the load body 5 is pulled, the self-locking mechanism 3 tightly holds the cable 6, the winding device is arranged on the load body 5, and the distance between the load body 5 and the robot is changed by winding and unwinding the pull rope 4, so that the load body 5 is lifted and lowered.
It should be noted that the self-locking mechanism 3 is a self-locking device whose holding force is irrelevant to the gravity of the load, and when a corresponding pulling force acts on the self-locking mechanism 3, the self-locking mechanism 3 will generate a holding force corresponding to the pulling force, which is irrelevant to the weight of the load; during use, the load body 5 needs to move in cooperation with the self-locking mechanism 3.
As shown in fig. 5, the self-locking mechanism 3 includes a sole 301, a sole mounting seat 302, a first guide rail slider assembly 303, a second guide rail slider assembly 304, a slide rail 305, a spring 306, a suspension ring 307, a first link 308, and a second link 309; in the use process, the self-locking mechanism 3 is connected to at least one of the travelling mechanism 1 and the adjusting mechanism 2; the self-locking mechanism 3 is provided with a suspension ring 307 for connecting the load body 5 and a sole 301 for clasping the cable 6 under the gravity traction of the load body 5.
It should be noted that the load body 5 is provided with a device for holding the cable 6, which may be a hydraulic holding device or an electric holding device; there are two cases according to the ascending distance of the load body 5: short rise distance and long rise distance.
The setting number of the self-locking mechanisms 3 in the same cable climbing robot is determined according to actual conditions, and is not described herein.
When the lifting distance is short, the cable climbing robot with the load body 5 works as follows:
firstly, climbing the cable climbing robot to a certain fixed position, and paying off the cable by a winding device on a load body 5 while climbing the cable climbing robot;
and secondly, taking up wires by the winding device, wherein the self-locking mechanism 3 on the cable climbing robot enables the foot soles 301 to extend out under the action of gravity, the foot soles 301 of the self-locking mechanism 3 tightly hold the cables 6, and the load body 5 rises along with the continuous taking up of the winding device until the load body 5 rises to a required position.
When the lifting distance is long, the cable climbing robot with the load body 5 works as follows:
firstly, the cable climbing robot crawls upwards for a certain distance, and the winding device follows the paying-off process while the cable climbing robot crawls;
secondly, a winding device winds up, the self-locking mechanism 3 on the cable climbing robot enables the foot palm 301 to tightly hold the cable 6 under the action of gravity, the load body 5 rises along with the continuous winding up of the winding device, and when the load body rises to a specified position, the holding device on the load body 5 holds the cable 6 again;
thirdly, paying off the cable by the winding device, withdrawing the self-locking module under the action of the spring 306, and climbing the cable climbing robot for a certain distance while continuing paying off;
and fourthly, loosening the holding device on the load body 5, holding the cable 6 tightly by the self-locking mechanism 3 under the action of gravity, winding up by the winding device, and holding the cable 6 tightly by the holding device on the load body 5 when the load body 5 rises to the specified position.
Repeating the steps, the robot and the load body 5 realize alternate ascending, and when the cable climbing robot moves downwards, the action sequence is opposite.
On the basis of the above embodiment, as shown in fig. 5, the self-locking mechanism 3 includes a sole mounting seat 302, a first guide rail slider assembly 303, and a second guide rail slider assembly 304 arranged in a direction perpendicular to the first guide rail slider; the sliding blocks of the first guide rail sliding block assembly 303 are used for being connected with the adjusting mechanism 2, and the sliding blocks of the second guide rail sliding block assembly 304 are used for being connected with the travelling mechanism 1, so that the self-locking mechanism 3 can be self-adaptively changed along with the change of the adjusting mechanism 2, and the same self-locking mechanism 3 can be suitable for cables 6 with different cable diameters.
The bottom of the sole mounting seat 302 is fixedly provided with a connecting slide block, a slide rail 305 which is matched with the connecting slide block and is connected with the sole 301, and an adjusting part for adjusting the pressure of the sole 301 on the cable 6;
the adjusting part comprises a first connecting rod 308, a second connecting rod 309, a pull ring and a spring 306 for connecting the sole 301 and the sole mounting seat 302, the first connecting rod 308, the second connecting rod 309 and the pull ring are all hinged on the same hinge shaft, the first connecting rod 308 is hinged on the sole mounting seat 302, and the second connecting rod 309 is hinged on the sole 301; in the initial state, in the absence of the load body 5, the spring 306 pulls the foot leg 301 away from the cable 6, when the load body 5 is hung on the hanging ring 307, the first connecting rod 308, the second connecting rod 309 and the hinge shaft of the pull ring are pulled downward under the action of the gravity of the load body 5, so that the sliding rail 305 moves towards the cable 6 relative to the connecting sliding block until the foot leg 301 holds the cable 6, the friction force generated when the self-locking mechanism 3 holds the cable 6 is a force proportional to the pulling force, regardless of the magnitude of the pulling force, and the load limit depends on the strength of the mechanical structure.
The cable climbing robot that this application file provided is the cable climbing robot of a light weight, low-power consumption. This cable climbing robot can adapt to different 6 diameters of cable, and a robot can detect multiple specification cable 6, and current 6 robot schemes of cable need multiple specification robot just can realize, help reducing robot and use unit cost. In addition, the self-locking mechanism 3 of the cable climbing robot is an underactuated passive holding device, and is different from the existing cable 6 robot in a heavy motor 104 driving (combination of a high-power motor 104 and a high reduction ratio device) or hydraulic driving mode, so that the quality of the self-locking mechanism 3 is effectively reduced, and the cost of the self-locking mechanism 3 is reduced. The cable climbing robot is strong in load capacity and high in climbing speed, the surface and the inside of a bridge cable 6 can be detected by the portable detection equipment, and detected data are acquired by the operation background and are analyzed and evaluated. This cable climbing robot helps solving drawbacks such as manual work load is big, inefficiency, potential safety hazard are big, and power-assisted bridge cable 6's long-term detection, disease prevention and processing, greatly reduced bridge maintenance cost.
The references to the first link 308, the second link 309, the third link 2061, the fourth link 2062, the fifth link 2063, and the sixth link 2064 in this document, and the references to "first," "second," "third," "fourth," "fifth," and "sixth" in the first guide rail slider assembly 303 and the second guide rail slider assembly 304 are merely for distinguishing the differences in the positions and are not in any order.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The cable climbing robot provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A cable climbing robot, comprising: at least two groups of running mechanisms (1) moving along the axial direction of the cable (6) and adjusting mechanisms (2) connected with the running mechanisms (1);
the adjusting mechanism (2) is used for adjusting the distance between the adjacent travelling mechanisms (1) so as to enable the cable climbing robot to be suitable for cables (6) with different cable diameters; the walking mechanisms (1) are uniformly distributed along the circumferential direction of the cable (6).
2. Cable climbing robot according to claim 1, characterized in that the travelling mechanism (1) comprises a wheel assembly for contact with the cable (6) and a power transmission assembly for bringing the wheel assembly into rotation;
the wheel assembly comprises two wheels (101) arranged coaxially and at an interval.
3. Cable climbing robot according to claim 2, characterized in that the surface of the wheel (101) intended to come into contact with the cable (6) is provided with a soft rubber.
4. The cable climbing robot according to claim 2, characterized in that the single travelling mechanism (1) comprises two sets of wheel assemblies arranged at intervals along the travel direction of the cable climbing robot, and the two sets of wheel assemblies are in transmission connection through a synchronous wheel (107) and a synchronous belt (108) to form a four-wheel drive system.
5. The cable climbing robot as claimed in claim 2, wherein the traveling mechanism (1) is provided with a frame (110), two shock absorbing devices (102) respectively arranged at the front end and the rear end of the frame (110), and a connecting frame (105), one end of the connecting frame (105) is hinged to the shock absorbing device (102) arranged at the front end of the frame (110), and the other end of the connecting frame (105) is fixedly connected to the shock absorbing device (102) arranged at the rear end of the frame (110).
6. Cable climbing robot according to any of claims 1-5, characterized in that the adjusting mechanism (2) comprises a screw (201), a first connecting block (202), a second connecting block (203) arranged at a distance from the first connecting block (202), and two sets of three-bar linkage structures (206);
the first connecting block (202) is rotatably sleeved on the screw rod (201) and is fixed relative to the axial position of the screw rod (201); the second connecting block (203) is in threaded connection with the screw rod (201);
one end of each of the two groups of three-link structures (206) is hinged to the first connecting block (202), and the other end of each of the two groups of three-link structures is hinged to the second connecting block (203);
the two groups of three-connecting-rod structures (206) are respectively arranged on two sides of the screw rod (201) to be respectively connected with the adjacent travelling mechanisms (1), and the connecting rods positioned in the middle of the two groups of three-connecting-rod structures (206) are arranged in parallel with the screw rod (201).
7. Cable climbing robot according to claim 6, characterized in that the adjusting mechanism (2) is provided with a locking device (204) for limiting the axial rotation of the lead screw (201).
8. Cable climbing robot according to any of claims 1-5, characterized by further comprising a self-locking mechanism (3) and a load body (5), the self-locking mechanism (3) being connected to at least one of the travelling mechanism (1) and the adjusting mechanism (2);
the self-locking mechanism (3) is provided with a hanging ring (307) used for connecting the load body (5) and a sole (301) clasping the cable (6) under the gravity traction of the load body (5);
the load body (5) is provided with a holding device for holding the cable (6), and the self-locking mechanism (3) is connected with the load body (5) through a retractable winding device.
9. The cable climbing robot according to claim 8, wherein the self-locking mechanism (3) comprises a sole mount (302), a first guide rail slider assembly (303) and a second guide rail slider assembly (304) arranged in a direction perpendicular to the first guide rail slider;
the slide block of the first guide rail slide block component (303) is used for being connected with the adjusting mechanism (2), and the slide block of the second guide rail slide block component (304) is used for being connected with the walking mechanism (1).
10. The cable climbing robot according to claim 9, wherein a connecting slide block, a slide rail (305) engaged with the connecting slide block and connected with the sole (301), and an adjusting part for adjusting the pressure of the sole (301) on the cable (6) are fixedly arranged at the bottom of the sole mounting seat (302);
the adjusting part comprises a first connecting rod (308), a second connecting rod (309), the pull ring and a spring (306) for connecting the sole (301) and the sole mounting seat (302), the first connecting rod (308), the second connecting rod (309) and the pull ring are all hinged to the same hinge shaft, the first connecting rod (308) is hinged to the sole mounting seat (302), and the second connecting rod (309) is hinged to the sole (301).
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| CN202110943765.9A CN113428252B (en) | 2021-08-17 | 2021-08-17 | Cable climbing robot |
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| CN202110943765.9A CN113428252B (en) | 2021-08-17 | 2021-08-17 | Cable climbing robot |
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| CN113428252B CN113428252B (en) | 2022-07-12 |
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