CN113581313A

CN113581313A - Cable climbing robot

Info

Publication number: CN113581313A
Application number: CN202110942581.0A
Authority: CN
Inventors: 丁宁; 胡小立; 张爱东
Original assignee: Shenzhen Institute of Artificial Intelligence and Robotics
Current assignee: Shenzhen Institute of Artificial Intelligence and Robotics
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2021-11-02

Abstract

The invention discloses a cable climbing robot, which comprises a travelling mechanism and a gravity self-locking module, wherein the travelling mechanism is used for moving along the axial direction of a cable; the gravity self-locking module is provided with a lifting ring for suspending a heavy object and a sole for holding the cable under the gravity traction of the heavy object. Under the action of the gravity self-locking module, the travelling mechanism can automatically adjust the friction force between the travelling mechanism and the cable according to whether the gravity self-locking module pulls a heavy object or not and the quality of the pulled heavy object, and the connection strength of the travelling mechanism and the cable is guaranteed. Wherein, gravity self-locking module belongs to underactuated sole gravity self-locking mechanism, not only can assist running gear to satisfy pulling of heavy load heavy object and pull, can not increase power equipment's quantity moreover, is favorable to this cable climbing robot's lightweight, satisfies this cable climbing robot's heavy load and pulls the operation.

Description

Cable climbing robot

Technical Field

The invention relates to the field of climbing robots, in particular to a cable climbing robot.

Background

The cable of the large-span inhaul cable bridge is generally cylindrical, the diameter of the cable is 50-200 mm, and the installation angle of the cable is completely vertical from 30 degrees to 90 degrees. The cable is generally wrapped with a polyethylene sheath on the outer surface, and the surface is provided with spiral rain lines, pits or other accessories with the diameter of 3-5 mm.

The cable is used as a main bearing component of a cable-stayed bridge, and in practical application, due to long-term exposure in various complex natural environments, the polyethylene sheath on the surface of the cable has the phenomena of corrosion, cracking, hardening, aging and the like in different degrees, so that the steel wires in the sheath have the risks of corrosion, wire breakage and the like. In order to ensure the safe use of the aforementioned cables, the safety performance of the cables needs to be regularly checked and maintained.

The current common modes include manual inspection and robotic cable inspection. The labor intensity of manual inspection is high, the efficiency is low, the cost is high, and the safety is poor. Cable robots typically employ a wheeled configuration that requires the drive wheels to maintain good contact with the cable surface to provide for relative positioning of the cable robot and the cable. However, due to the influence of the irregular shape of the surface of the cable, in actual operation, the friction force between the driving wheel and the cable is difficult to control and is easy to fall off and loosen; the recombination part cable robot has a complex structure, a large self weight and obviously limited load capacity.

Disclosure of Invention

The invention aims to provide a cable climbing robot, which has the advantages that the friction between the cable climbing robot and a cable is increased along with the increase of load, the adverse effect caused by the irregular surface of the cable can be reduced, the operation safety of the cable climbing robot is fully ensured, and the operation requirement of large load is met.

In order to achieve the above object, the present invention provides a cable climbing robot, comprising a traveling mechanism for moving in an axial direction of a cable and a gravity self-locking module connected to the traveling mechanism; the gravity self-locking module comprises a lifting ring used for suspending a heavy object and a sole used for holding the cable under the gravity traction of the heavy object.

Preferably, the gravity self-locking module comprises a plurality of foot soles used for surrounding the peripheral side of the cable under the gravity traction of the weight.

Preferably, the gravity self-locking module further comprises a driving rod, a mounting seat and a return spring; a sliding groove which is parallel to the extending direction of the cable is arranged in the mounting seat; the first end of the driving rod is hinged in the sliding groove in a sliding manner; the second end of the driving rod is connected with the sole; the sliding direction of the first end intersects with the moving direction of the second end; the lifting ring is connected to the first end; two ends of the reset spring are respectively connected with the mounting seat and the foot palm.

Preferably, the surface of the ball of the foot is provided with a V-shaped rubber surface for facing the cable.

Preferably, the walking mechanism comprises two groups of roller shaft assemblies which are respectively arranged on two sides of the cable; any group of the roller shaft assemblies comprises shafts distributed along the radial direction of the cable and rollers arranged at two ends of the shafts; the shafts of the two groups of roller shaft assemblies are connected into a frame which is connected end to end in a closed manner through connecting pieces and used for surrounding the periphery of the cable.

Preferably, said axles of said two sets of said roller axle assemblies are spaced apart in parallel; the two groups of connecting pieces are spaced in parallel; the frame is a rectangular frame formed by connecting the shafts of the two groups of roller shaft assemblies and the two groups of connecting pieces in a closed end-to-end manner; the end part of any shaft is sleeved and connected with the adjacent connecting piece in a sliding way through a frame sliding sleeve; the end part sleeve of the connecting piece is provided with a buffer spring used for extruding the frame sliding sleeve to the middle part of the connecting piece.

Preferably, any one of the connecting pieces comprises a screw rod and six groups of connecting rods which are sequentially hinged end to end; the lead screw and the six groups of connecting rods are distributed on the same plane;

the six groups of connecting rods are provided with a hinge point I, a hinge point II, a hinge point III, a hinge point IV, a hinge point V and a hinge point VI which are sequentially distributed; the hinge point I is hinged with the lead screw in a sliding manner, and the hinge point IV is hinged with a lead screw sliding block of the lead screw; all the connecting rods connected with the hinge point I are equal in length to all the connecting rods connected with the hinge point IV; the connecting rod between the hinge point II and the hinge point III is as long as the connecting rod between the hinge point V and the hinge point VI;

the shaft is respectively vertical to the planes of the lead screw and the connecting piece; the roller shaft assembly is connected to the connecting rod parallel to the lead screw.

Preferably, said connecting rods of the same link comprise a third connecting rod between said hinge point II and said hinge point III and a sixth connecting rod between said hinge point V and said hinge point VI;

a first track groove is formed in the end part of the lead screw; a second track groove is formed in the end part of the third connecting rod; a third track groove is formed in the end part of the sixth connecting rod; the first track groove is parallel to the lead screw, the second track groove is perpendicular to the third connecting rod, and the third track groove is perpendicular to the sixth connecting rod;

the gravity self-locking module also comprises a cross-shaped guide rail; the lifting ring and the sole are connected to the same branch guide rail of the cross-shaped guide rail; the other three branch guide rails of the cross-shaped guide rail are respectively in sliding fit with the first rail groove, the second rail groove and the third rail groove.

Preferably, the roller of the walking mechanism is in a circular truncated cone shape; the roller is provided with a rubber roller surface distributed along the circumferential surface of the circular truncated cone.

Preferably, one side of the travelling mechanism is provided with a wireless driving module for driving the rubber roller surface to be attached to the cable to roll.

Compared with the background technology, the cable climbing robot provided by the invention comprises a travelling mechanism and a gravity self-locking module, wherein the travelling mechanism is used for moving along the axial direction of a cable, and the gravity self-locking module is connected to the travelling mechanism; the gravity self-locking module is provided with a lifting ring for suspending a heavy object and a sole for holding the cable under the gravity traction of the heavy object.

Based on the concrete type of the heavy object that this cable climbing robot connected among the actual operation, this cable climbing robot can realize the maintenance operation to the cable of slope or vertical setting, and aforementioned maintenance operation includes and is not limited to magnetic leakage detection, cleanness, PE layer restoration etc.. That is, the weight may be generally an instrument for achieving magnetic leakage detection, an instrument for achieving cleaning, or an instrument for achieving PE layer modification, or the like; the cable climbing robot moves along the cable by dragging the heavy object, so that corresponding overhaul operation contents are realized.

For the cable climbing robot, under the action of the gravity self-locking mechanism, the walking mechanism can automatically adjust the friction force between the cable climbing robot and the cable according to whether the gravity self-locking mechanism pulls a heavy object and the amount of the pulled heavy object. The larger the mass of the heavy object pulled by the gravity self-locking mechanism is, the larger the pressure applied to the cable by the sole is, and the pressure can be assisted by the walking mechanism to ensure the connection strength of the cable climbing robot and the cable. Meanwhile, the gravity self-locking module belongs to an under-actuated sole gravity self-locking mechanism, so that the number of power equipment is reduced under the condition of meeting the traction and the dragging of heavy loads, and the lightweight of the cable climbing robot is facilitated.

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 view of a cable climbing robot provided in an embodiment of the present invention in a first direction;

FIG. 2 is a schematic structural view of a cable climbing robot provided in an embodiment of the present invention in a second direction;

FIG. 3 is a schematic view of the cable climbing robot according to the embodiment of the present invention connected to a heavy object;

FIG. 4 is a partial schematic structural view of a cable climbing robot provided in an embodiment of the present invention at a connector;

FIG. 5 is a partial schematic structural view of a cable climbing robot at a sole according to an embodiment of the present invention;

fig. 6 is a partial structural schematic view of a cable climbing robot at a cross-shaped guide rail according to an embodiment of the present invention.

The device comprises a cable 01, a weight 02, a 021 winch traction device, a sole 1, a lifting ring 2, a driving rod 3, a return spring 4, a roller shaft assembly 5, a shaft 51, a roller 52, a connecting piece 6, a lead screw 61, a lead screw slider 611, a first connecting rod 621, a second connecting rod 622, a third connecting rod 623, a fourth connecting rod 624, a fifth connecting rod 625, a sixth connecting rod 626, a rotary hand wheel 63, a frame sliding sleeve 7, a buffer spring 8, a first track groove 9, a second track groove 10, a third track groove 11, a cross-shaped guide rail 12 and a lithium battery 13.

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.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 6, fig. 1 is a schematic structural view of a cable climbing robot according to an embodiment of the present invention in a first direction; FIG. 2 is a schematic structural view of a cable climbing robot provided in an embodiment of the present invention in a second direction; FIG. 3 is a schematic view of the cable climbing robot according to the embodiment of the present invention connected to a heavy object; FIG. 4 is a partial schematic structural view of a cable climbing robot provided in an embodiment of the present invention at a connector; FIG. 5 is a partial schematic structural view of a cable climbing robot at a sole according to an embodiment of the present invention; fig. 6 is a partial structural schematic view of a cable climbing robot at a cross-shaped guide rail according to an embodiment of the present invention. It should be noted that a rope is provided between the cable climbing robot and the hoist pulling device of the heavy object, and fig. 3 is not shown.

The invention provides a cable climbing robot, which comprises a travelling mechanism and a gravity self-locking module connected with the travelling mechanism; wherein, the gravity self-locking module comprises a lifting ring 2 and a sole 1. In the cable climbing robot, the walking mechanism is used for moving along the surface of the cable 01 in a fitting manner, so that the gravity self-locking module is driven to move along the axial direction of the cable 01. The suspension ring 2 of the gravity self-locking module can be used for connecting heavy objects 02 such as a cable 01 magnetic flux leakage detection device, a cable 01 cleaning device, a cable 01PE layer repair device, a cable 01 visual detection device and the like, the sole 1 is used for holding the cable 01 under the traction of the heavy objects 02, and accordingly, when the heavy objects 02 are separated from the suspension ring 2, the acting force applied to the cable 01 by the sole 1 is greatly reduced, and even the sole 1 is completely separated from the cable 01. For the aforementioned enumerated heavy objects 02, it may include a function realization part and a winch traction device 021, and the aforementioned function realization part may be moved up and down with respect to the traveling mechanism of the cable climbing robot under the driving of the winch traction device 021.

Wherein, the running mechanism can comprise a roller 52, a synchronous belt transmission mechanism, a motor, a speed reducer and other structures. The motor transmits power to the roller 52 through a speed reducer and a synchronous belt transmission mechanism, and the roller 52 is driven to roll along the surface of the cable 01, so that crawling power moving along the cable 01 is provided for the cable climbing robot. Wherein, the speed reducer can adopt a worm gear speed reducer with self-locking characteristic; when this cable climbing robot climbs on cable 01, aforementioned speed reducer can guarantee that the robot can not rotate because of gravity under the power failure condition gyro wheel 52, avoids the robot to drop fast and damage, has guaranteed the security of whole cable climbing robot.

It should be noted that, since the sole 1 of the cable climbing robot needs to hold the cable 01 by the gravity of the weight 02, the cable climbing robot is suitable for the cable 01 which is inclined or vertically disposed.

For the cable 01 which is arranged obliquely or vertically, in the cable climbing robot, the sole 1 can be connected to the main body part of the gravity self-locking module through a transmission structure such as a link mechanism. When the weight 02 makes the input end of the transmission structure such as the link mechanism generate the input displacement along the gravity direction, the input displacement can be decomposed to the extending direction of the cable 01, and correspondingly, the output end of the transmission structure such as the link mechanism generates the output displacement along the radial direction of the cable 01, and the output displacement drives the sole 1 to approach the cable 01 along the radial direction of the cable 01 until the sole 1 extrudes the cable 01. Generally, in the structural member strength range of the gravity self-locking module, the greater the gravity of the weight 02, the greater the frictional supporting force between the sole 1 and the cable 01, and the rope climbing robot can drag and pull the heavy load 02 on the cable 01.

In summary, in the cable climbing robot provided by the invention, the walking mechanism can automatically adjust the friction force between the cable climbing robot and the cable 01 according to whether the heavy object 02 is pulled or not and the quality of the pulled heavy object 02, and the connection strength between the walking mechanism and the cable 01 is ensured when the walking mechanism drags the heavy load 02 to move. Therefore, the cable climbing robot provides power for the whole product to move relative to the cable 01 by utilizing the walking mechanism, and meanwhile, the connection strength of the whole product and the cable 01 is improved by adopting the under-actuated sole gravity self-locking mechanism, so that the number of power equipment is reduced under the condition of meeting the traction and the dragging of a heavy load 02.

The cable climbing robot provided by the invention is further described below with reference to the accompanying drawings and embodiments.

In the cable climbing robot, the gravity self-locking module can be provided with a plurality of foot soles 1, and all the foot soles 1 are annularly distributed and used for surrounding the periphery of the cable 01 under the gravity traction of the weight 02. For example, the gravity self-locking module may comprise two footpads 1, and the two footpads 1 are distributed oppositely for clamping to both sides of the cable 01 under the gravity traction of the weight 02. The plurality of leg cores 1 may be arranged in a loop on the same plane, or may be wound around the cable 01 in a spiral manner.

As to the specific implementation of the sole 1 holding the cable 01 under the gravitational pull of the weight 02, a specific example is provided below.

In this embodiment, the gravity self-locking module comprises a driving rod 3 and a mounting seat in addition to the suspension ring 2 and the sole 1; the mounting base is used for connecting the rest structures of the gravity self-locking module with the walking mechanism relative to the main body structure of the gravity self-locking module.

A sliding groove parallel to the extending direction of the cable 01 is arranged in the mounting seat, the first end of the driving rod 3 is in sliding hinge joint through the sliding groove, and the second end of the driving rod 3 is connected to the sole 1; the suspension ring 2 is connected to a first end of the drive rod 3. The sliding direction of the first end of the driving rod 3 intersects with the moving direction of the second end thereof, and the sole 1 is disposed at the first end of the driving rod 3 and the second end of the driving rod 3 is disposed in the sliding slot, that is, the moving direction of the sole 1 intersects with the slot length direction of the sliding slot.

It can be seen that when the hanging ring 2 of the gravity self-locking module is connected with the weight 02, the weight 02 pulls the first end of the driving rod 3 to slide downwards along the sliding slot, and the second end of the driving rod 3 moves along with the sliding slot, and the moving direction is compared with the slot length direction of the sliding slot, that is, the extending direction of the cable 01. Obviously, the displacement produced by the second end of the driving rod 3 can be resolved in the radial direction of the cable 01, so that the sole 1 provided at the second end of the driving rod 3 approaches the cable 01 in the radial direction of the cable 01 until the cable 01 is squeezed.

On the basis, in order to improve the using effect of the cable climbing robot, a return spring 4 is arranged between the sole 1 and the mounting seat. When the weight 02 pulls the first end of the driving rod 3 to slide downwards, the distance between the mounting seat and the second end of the driving rod 3 is increased, and the return spring 4 is stretched; once the heavy object 02 is separated from the hanging ring 2, the return spring 4 automatically contracts to draw the second end of the driving rod 3 to be close to the mounting seat, and further the sole 1 is separated from the cable 01.

For the sole 1 used in the above embodiment, a V-shaped rubber surface may be provided on the surface thereof to face the cable 01. When the sole 1 presses the cable 01, the V-shaped rubber surface is attached to the surface of the cable 01 and generates adaptive deformation, so that the sole 1 and the cable 01 are fully and effectively contacted.

As for the traveling mechanism of the cable climbing robot, two sets of roller shaft assemblies 5 may be included to be disposed at both sides of the cable 01. For any set of roller shaft assemblies 5, it may include a shaft 51 distributed radially of the cable 01 and rollers 52 mounted at both ends of the shaft 51. For both sets of roller shaft assemblies 5, the shafts 51 of both sets of roller shaft assemblies 5 are connected to each other by a connection 6, forming a closed end-to-end frame. For example, when viewed in a radial cross-sectional direction of the cable 01, the shafts 51 of the two roller shaft assemblies 5 may form a triangular frame closed end to end through one set of the connecting members 6, may form a quadrilateral frame closed end to end through two sets of the connecting members 6, and may form a polygonal frame closed end to end through multiple sets of the connecting members 6. It can be seen that the frame of the running gear is arranged around the cable 01, accordingly, all the rollers 52 of the running gear are arranged around the cable 01, and any one of the rollers 52 can roll on the surface of the cable 01.

On the basis of the structure, the cable climbing robot is provided with two groups of connecting pieces 6; the shafts 51 of the two roller shaft assemblies 5 are spaced in parallel; the two sets of connectors 6 are spaced apart in parallel. The above-mentioned frame is a rectangular frame formed by the two sets of shafts 51 and the two sets of connecting members 6, as seen in a radial cross section of the cable 01, and the cable 01 is enclosed in the rectangular frame. Obviously, the two sets of shafts 51 and the two sets of connecting members 6 respectively substantially cover four sides of the rectangular frame.

Wherein, the two axial ends of any group of shafts 51 are respectively sleeved and slidably connected to the adjacent connecting pieces 6 through the frame sliding sleeves 7. If the side where the shaft 51 is located is the length of the rectangular frame and the side where the connecting piece 6 is located is the width of the rectangular frame, the rectangular frame is a rectangular frame with a constant length and a variable width. In addition, the end of any one connecting piece 6 is sleeved with a buffer spring 8, one end of the buffer spring 8 is relatively fixed with the end face of the connecting piece 6, and the other end of the buffer spring is pressed against the rack sliding sleeve 7 towards the middle section of the length of the connecting piece 6.

Therefore, for the buffer spring 8, when the surface of the cable 01 is smooth and has no protrusion, the frame sliding sleeve 7 is maintained at a constant position in the length direction of the connecting piece 6, and the buffer spring 8 applies a constant pressure to the frame sliding sleeve 7; when the surface of the cable 01 is partially convex and the roller 52 moves to the convex portion, the distance between the two frame sliding sleeves 7 on the same link 6 is expanded, thereby compressing the adjacent buffer springs 8. In other words, the buffer spring 8 is used to realize the obstacle crossing function of the traveling mechanism, and ensures that the roller 52 of the traveling mechanism can press the cable 01 at the obstacle-free position of the cable 01 and can expand adaptively at the obstacle position of the cable 01, thereby continuing traveling over the obstacle.

Further, the connecting piece 6 of the walking mechanism comprises a screw 61 and six groups of connecting rods which are sequentially hinged end to end; the lead screw 61 and the six groups of connecting rods are distributed on the same plane. Wherein, six groups of head and the tail articulated connecting rod in proper order can be regarded as the hexagon frame, and for the convenience of description, can define the hinge point that six groups of connecting rods articulated each other formed in order along same hour direction as: hinge point I, hinge point II, hinge point III, hinge point IV, hinge point V and hinge point VI. All connecting rods connected with the hinge point I are equal in length to all connecting rods connected with the hinge point IV; the connecting rod between the hinge point II and the hinge point III is as long as the connecting rod between the hinge point V and the hinge point VI. Referring to fig. 4, a hinge point I is located between the first connecting rod 621 and the second connecting rod 622, a hinge point II is located between the second connecting rod 622 and the third connecting rod 623, a hinge point III is located between the third connecting rod 623 and the fourth connecting rod 624, a hinge point IV is located between the fourth connecting rod 624 and the fifth connecting rod 625, a hinge point V is located between the fifth connecting rod 625 and the sixth connecting rod 626, and a hinge point VI is located between the sixth connecting rod 626 and the first connecting rod 621; the first connecting bar 621, the second connecting bar 622, the fourth connecting bar 624 and the fifth connecting bar 625 have the same length, and the third connecting bar 623 and the sixth connecting bar 626 have the same length.

With respect to the above-described structure of the link 6, in this traveling mechanism, the shaft 51 of the roller shaft assembly 5 is attached at an angle perpendicular to the lead screw 61 and also perpendicular to the plane of the link 6; wherein the shaft 51 of the roller shaft assembly 5 is connected to a connecting rod parallel to the lead screw 61 through a frame slider. Referring to fig. 4, the third connecting rod 623 and the sixth connecting rod 626 are both parallel to the lead screw 61, and the shaft 51 of the roller shaft assembly 5 is connected to the adjacent third connecting rod 623 (or sixth connecting rod 626) through a frame slider.

In the above structure, the lead screw 61 is connected to the hinge point I and the hinge point IV, specifically, the lead screw 61 is hinged to the hinge point I, and the lead screw sliding block 611 of the lead screw 61 is hinged to the hinge point IV. Therefore, when the screw slider 611 moves along the screw 61, the pitch between the hinge points I and IV changes, correspondingly pulling the six sets of connecting rods to deflect in the same plane. Meanwhile, the third connecting rod 623 and the sixth connecting rod 626 are spaced in parallel according to the length relationship of the six sets of connecting rods, and the spacing of the shafts 51 of the two sets of roller shaft assemblies 5 depends on the spacing of the third connecting rod 623 and the sixth connecting rod 626, so that, when the spacing of the hinge point I and the hinge point IV is changed, the third connecting rod 623 and the sixth connecting rod 626 move closer to and away from each other in a translational motion, thereby achieving the approaching and the departing of the shafts 51 of the two sets of roller shaft assemblies 5 from each other.

Obviously, when the shafts 51 of the two sets of roller shaft assemblies 5 are close to each other, the spacing of all the rollers 52 of the running gear becomes smaller, which is suitable for the cable 01 with smaller radial dimension, or the stress applied to the surface of the cable 01 can be increased; when the shafts 51 of the two sets of roller shaft assemblies 5 are far away from each other, the distance between all the rollers 52 of the running mechanism becomes larger, which is suitable for the cable 01 with larger radial dimension, or the stress applied to the surface of the cable 01 can be reduced. In short, the above structure and connection relationship of the traveling mechanism can make the cable climbing robot meet the use requirements of cables 01 with different radial dimensions.

The lead screw of the lead screw 61 may be a trapezoidal lead screw. The end of the trapezoidal screw rod is provided with a rotating hand wheel 63, and an operator can rotate the rotating hand wheel 63 to drive the trapezoidal screw rod to rotate, so that the screw rod sliding block 611 moves along the trapezoidal screw rod, and then the six groups of connecting rods in the same plane are driven to move, and the third connecting rod 623 and the sixth connecting rod 626 are close to and far away from each other in a translational motion mode to adapt to cables 01 with different diameters. When the rotating hand wheel 63 is adjusted in place, the rotating hand wheel 63 is locked, so that the anti-loosening effect is achieved. It is apparent that when the connecting members 6 having different connecting rod lengths are applied to the cable climbing robot, the cable climbing robot can accommodate the cable 01 having a wider range of cable diameters.

On the basis of the above structure, in the same link 6 of the cable climbing robot, the connecting rods thereof include a third connecting rod 623 between the hinge point II and the hinge point III and a sixth connecting rod 626 between the hinge point V and the hinge point VI. As can be seen from the above description, the third connecting rod 623 and the sixth connecting rod 626 are both parallel to the screw 61, and the three are in the same plane. With this configuration, the traveling mechanism may be provided with a first track groove 9 at an end of the lead screw 61, a second track groove 10 at an end of the third connecting rod 623, and a third track groove 11 at an end of the sixth connecting rod 626. The first track groove 9 is parallel to the lead screw 61, the second track groove 10 is perpendicular to the third connecting rod 623, and the third track groove 11 is perpendicular to the sixth connecting rod 626. In adaptation to the aforementioned structure of the running gear, the gravity self-locking module further comprises a cross-shaped guide rail 12. The cross-shaped guide rail 12 has four branch guide rails, the suspension ring 2 and the sole 1 are connected to the same branch guide rail of the cross-shaped guide rail 12, and the other three branch guide rails of the cross-shaped guide rail 12 are respectively in sliding fit with the first rail groove 9, the second rail groove 10 and the third rail groove 11 of the walking mechanism.

When the lifting ring 2 is connected with the heavy object 02, the cross-shaped guide rail 12 of the gravity self-locking module pulls the third connecting rod 623 and the sixth connecting rod 626 to approach each other, so that all the rollers 52 of the travelling mechanism extrude the cable 01, and the friction force between the travelling mechanism and the cable 01 is improved.

The above-mentioned mounting base can be regarded as the cross-shaped guide rail 12 or as a partial structure of the cross-shaped guide rail 12, and therefore, the branch guide rail of the cross-shaped guide rail 12 for connecting the suspension ring 2 and the sole 1 is also referred to as a sliding groove of the mounting base.

In order to increase the friction between the running mechanism and the cable 01, the roller 52 of the running mechanism may be formed in a circular truncated cone shape, and the roller 52 may be provided with a rubber roller surface along the circumferential surface of the circular truncated cone to be attached to the surface of the cable 01.

In addition, the cable climbing robot provided by the invention also comprises a wireless driving module; the wireless driving module may include a lithium battery 13 disposed at one side of the traveling mechanism for driving a rubber roller surface of the traveling mechanism to roll along the cable 01. That is to say, the cable climbing robot adopts wireless data transmission communication and control. The transmission distance set by the wireless driving module is larger than 300m, and the wireless driving module can cover the maximum length of the cable-stayed bridge cable 01 in China at present.

In conclusion, the cable climbing robot provided by the invention can be applied to operations such as spraying of cables 01, detection and maintenance of street lamp poles or cylindrical rod pieces, external detection of pipelines and the like. The whole machine of the cable climbing robot is assembled in a modularized mode, the structure is compact, reliable and light, the robot can be quickly and conveniently disassembled and assembled on a bridge detection site, the efficiency is high, and the labor intensity is low. The walking mechanism can adapt to the diameter difference of different cables 01 in a larger range, the driving equipment of the walking mechanism can ensure the safety of the cable climbing robot through structural self-locking, and the movement control of the cable climbing robot is simplified by operators through wireless transmission; and the gravity self-locking module is arranged into an under-actuated sole gravity self-locking structure, so that the use number of power devices is reduced, and the traction and dragging operation of heavy-load equipment is facilitated.

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

1. A cable climbing robot is characterized by comprising a travelling mechanism and a gravity self-locking module, wherein the travelling mechanism is used for moving along the axial direction of a cable; the gravity self-locking module comprises a lifting ring (2) used for suspending a heavy object (02) and a sole (1) used for holding the cable (01) under the gravity traction of the heavy object (02).

2. The cable climbing robot according to claim 1, wherein the gravity self-locking module comprises a plurality of the soles (1) for surrounding the peripheral side of the cable (01) under the traction of the weight (02).

3. Cable climbing robot according to claim 1, characterized in that the gravity self-locking module further comprises a driving rod (3), a mounting and a return spring (4); a sliding groove which is parallel to the extending direction of the cable (01) is arranged in the mounting seat; the first end of the driving rod (3) is hinged in the sliding groove in a sliding manner; the second end of the driving rod (3) is connected with the sole (1); the sliding direction of the first end intersects with the moving direction of the second end; the lifting ring (2) is connected to the first end; two ends of the return spring (4) are respectively connected with the mounting seat and the sole (1).

4. Cable climbing robot according to claim 3, characterized in that the surface of the foot sole (1) is provided with a V-shaped rubber surface to face the cable (01).

5. Cable climbing robot according to any of claims 1 to 4, characterized in that the travelling mechanism comprises two sets of roller axle assemblies (5) arranged on either side of the cable (01); any group of the roller shaft assemblies (5) comprises shafts (51) distributed along the radial direction of a cable (01) and rollers (52) arranged at two ends of the shafts (51); the shafts (51) of the two groups of roller shaft assemblies (5) are connected into a frame which is connected end to end in a closed manner through connecting pieces (6) and is used for enclosing the peripheral side of the cable (01).

6. Cable climbing robot according to claim 5, characterized in that the shafts (51) of the two sets of roller shaft assemblies (5) are spaced in parallel; the two groups of connecting pieces (6) are spaced in parallel; the frame is a rectangular frame formed by connecting the shafts (51) of the two groups of roller shaft assemblies (5) and the two groups of connecting pieces (6) in a closed end-to-end manner; the end part of any shaft (51) is sleeved and connected with the adjacent connecting piece (6) in a sliding way through a frame sliding sleeve (7); the end cover of connecting piece (6) is equipped with and is used for to the middle part extrusion of connecting piece (6) buffer spring (8) of frame sliding sleeve (7).

7. Cable climbing robot according to claim 6, characterized in that any of the connectors (6) comprises a lead screw (61) and six sets of connecting rods hinged end to end in sequence; the lead screw (61) and the six groups of connecting rods are distributed in the same plane;

the six groups of connecting rods are provided with a hinge point I, a hinge point II, a hinge point III, a hinge point IV, a hinge point V and a hinge point VI which are sequentially distributed; the hinge point I is hinged with the lead screw (61) in a sliding manner, and the hinge point IV is hinged with a lead screw sliding block (611) of the lead screw (61); all the connecting rods connected with the hinge point I are equal in length to all the connecting rods connected with the hinge point IV; the connecting rod between the hinge point II and the hinge point III is as long as the connecting rod between the hinge point V and the hinge point VI;

the shaft (51) is respectively vertical to the planes of the lead screw (61) and the connecting piece (6); the roller shaft assembly (5) is connected to the connecting rod parallel to the lead screw (61).

8. Cable climbing robot according to claim 7, characterized in that the connecting rods of the same connector (6) comprise a third connecting rod (623) between the hinge point II and the hinge point III and a sixth connecting rod (626) between the hinge point V and the hinge point VI;

a first track groove (9) is formed in the end part of the lead screw (61); a second track groove (10) is formed in the end of the third connecting rod (623); a third track groove (11) is formed in the end part of the sixth connecting rod (626); the first track groove (9) is parallel to the lead screw (61), the second track groove (10) is perpendicular to the third connecting rod (623), and the third track groove (11) is perpendicular to the sixth connecting rod (626);

the gravity self-locking module further comprises a cross-shaped guide rail (12); the lifting ring (2) and the sole (1) are connected to the same branch guide rail of the cross-shaped guide rail (12); the other three branch guide rails of the cross-shaped guide rail (12) are respectively in sliding fit with the first rail groove (9), the second rail groove (10) and the third rail groove (11).

9. The cable climbing robot according to claim 1, wherein the rollers (52) of the travelling mechanism are in the shape of a circular truncated cone; the roller (52) is provided with a rubber roller surface distributed along the circumferential surface of the circular truncated cone.

10. The cable climbing robot as recited in claim 1, wherein a wireless driving module is provided at one side of the traveling mechanism for driving the rubber roller surface to roll along the cable (01).