CN117721716A

CN117721716A - Cable robot

Info

Publication number: CN117721716A
Application number: CN202410123239.1A
Authority: CN
Inventors: 丁宁; 胡少波; 元小强; 林枝有; 王超; 何旭春; 李德程
Original assignee: Chinese University of Hong Kong Shenzhen; Shenzhen Institute of Artificial Intelligence and Robotics
Current assignee: Chinese University of Hong Kong Shenzhen; Shenzhen Institute of Artificial Intelligence and Robotics
Priority date: 2024-01-29
Filing date: 2024-01-29
Publication date: 2024-03-19

Abstract

The invention discloses a cable robot, which comprises a middle frame and two crawling devices, wherein the two crawling devices are used for crawling along a handrail rope respectively, and each crawling device comprises: the crawling mechanism comprises a side beam, a front roller structure and a rear roller structure, wherein the front roller structure is assembled and connected to the front end part of the side beam, and the rear roller structure is assembled and connected to the tail end part of the side beam; the first peristaltic mechanism is arranged on the side beam; the first driving mechanism comprises a peristaltic supporting beam and a driving assembly, wherein the peristaltic supporting beam is arranged on the side beams in a sliding manner and is positioned between the two first peristaltic mechanisms, and the driving assembly is connected with the side beams and the peristaltic supporting beam and is used for driving the side beams and the peristaltic supporting beam to slide relatively; the second peristaltic mechanism is arranged on the peristaltic supporting beam. According to the scheme, the handrail rope is clamped by the first peristaltic mechanism and the second peristaltic mechanism at intervals, and the peristaltic supporting beams and the side beams are driven to move relatively by the driving assembly, so that the cable robot can stably climb forwards along the handrail rope.

Description

Cable robot

Technical Field

The invention relates to the technical field of cable maintenance, in particular to a cable robot.

Background

The main cable is a main bearing member of the suspension bridge, and the protection principle of the main cable is that the main cable is preserved in a mode of 'protective putty + winding steel wires + outer protective coating', wherein the outer protective coating is easy to age and crack in the air.

In the related art, the cable robot is provided with the roller structure in front and back, and the servo motor is utilized to drive the roller of the roller structure to rotate, so that the cable robot can climb along the handrail rope. In the process of crawling along the handrail rope, the detection module on the cable robot detects the cable so as to maintain the cable later.

However, the cable robot crawls along the handrail rope in the above manner, and has a problem of poor stability when crawling under severe environments such as strong winds.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the cable robot, which can ensure that the cable robot can stably climb along a cable.

The embodiment of the application provides a cable robot, including the intermediate frame with set up side by side in two devices of crawling of intermediate frame, two the device of crawling is used for crawling along the handrail rope respectively, wherein, each the device of crawling includes:

the crawling mechanism comprises a side beam, a front roller structure and a rear roller structure, wherein the front roller structure is assembled and connected to the front end part of the side beam, and the rear roller structure is assembled and connected to the tail end part of the side beam;

the first peristaltic mechanism is arranged on the side beam and used for clamping the handrail rope;

the first driving mechanism comprises a peristaltic supporting beam and a driving assembly, wherein the peristaltic supporting beam is arranged on the side beams in a sliding manner and is positioned between the two first peristaltic mechanisms, and the driving assembly is connected with the side beams and the peristaltic supporting beam and is used for driving the side beams and the peristaltic supporting beam to slide relatively;

the second peristaltic mechanism is arranged on the peristaltic supporting beam and used for clamping the handrail rope;

when the first peristaltic mechanism clamps the handrail rope, the second peristaltic mechanism is in a loosening state, and the driving assembly drives the peristaltic corbel to move along the handrail rope relative to the side beam; when the second peristaltic mechanism clamps the handrail rope, the first peristaltic mechanism is in a loosening state, and the driving assembly drives the side beam to move along the handrail rope relative to the peristaltic corbel so as to enable the cable robot to creep along the handrail rope.

According to some embodiments of the invention, two first peristaltic mechanisms are provided, one first peristaltic mechanism is fixedly arranged at the front part of the side beam and is positioned behind the front roller structure, and the other first peristaltic mechanism is fixedly arranged at the tail part of the side beam and is positioned in front of the rear roller structure;

the peristaltic support beams are fixedly assembled on the peristaltic support beams, and one peristaltic mechanism is located behind the other peristaltic mechanism.

According to some embodiments of the invention, the drive assembly comprises a first drive member disposed on one of the side beam and the peristaltic branch beam, a rack connected to the other, and a drive gear connected to the first drive member and meshed with the rack.

According to some embodiments of the invention, the cable robot further comprises:

the two sliding support beams are arranged on the middle frame in a sliding mode along the direction perpendicular to the side beams, one sliding support beam is connected with one side beam, and the other sliding support beam is connected with the other side beam;

and the second driving mechanism is used for driving the two sliding corbels to relatively move away from or close to each other so as to adjust the distance between the two side beams.

According to some embodiments of the invention, the second drive mechanism comprises:

the sliding seat is arranged on the middle frame in a sliding manner along the direction perpendicular to the sliding supporting beam;

the second driving piece is used for driving the sliding seat to slide linearly;

one end of one connecting rod is rotationally connected with the sliding seat, and the other end of the connecting rod is rotationally connected with one sliding supporting beam; one end of the other connecting rod is rotationally connected with the sliding seat, and the other end of the other connecting rod is rotationally connected with the other sliding supporting beam.

According to some embodiments of the invention, the second driving member comprises a driving motor and a screw rod, the screw rod is rotationally connected with the middle frame, the sliding seat is in threaded connection with the screw rod, and the driving motor is used for driving the screw rod to rotate;

the two sliding seats are respectively connected with the two sliding support beams at the front side through two connecting rods so as to drive the two sliding support beams to move away from or close to each other; the other two sliding support beams are arranged at the tail part of the middle frame in a sliding way and are respectively connected with the two side beams, the other sliding seat is in threaded connection with the other thread section of the bidirectional screw rod, and the sliding seat is respectively connected with the other two sliding support beams through the other two connecting rods so as to drive the two sliding support beams to move away from or close to each other;

or, the screw rod is in threaded connection with one or more sliding seats, and each sliding seat is correspondingly provided with a group of sliding support beams; and each sliding seat is rotatably provided with two connecting rods so as to be respectively and rotatably connected with two sliding support beams of the group of sliding support beams.

According to some embodiments of the present invention, the middle frame includes a supporting main beam, two supporting branch beams, and a reinforcing rib, wherein the supporting main beam is located between the two side beams and is parallel to the side beams, one supporting branch beam is vertically connected to a front end portion of the supporting main beam, the other supporting branch beam is vertically connected to a tail portion of the supporting main beam, and the reinforcing rib is connected to the supporting main beam and the supporting branch beam; each supporting strut beam is provided with two sliding strut beams in a sliding mode so as to be connected with the two side beams respectively, each supporting main beam is provided with two sliding seats in a sliding mode, and the two sliding seats are respectively connected with two connecting rods in a rotating mode so as to be respectively connected with the two sliding strut beams on the supporting strut beams in a rotating mode.

According to some embodiments of the invention, the second driving mechanism comprises a bidirectional screw rod, two nut seats and a second driving piece, wherein the bidirectional screw rod is rotationally connected with the middle frame, and one nut seat is connected with a threaded section of the bidirectional screw rod and fixedly connected with one sliding supporting beam; the other nut seat is in threaded connection with the other threaded section of the bidirectional screw rod and is fixedly connected with the other sliding supporting beam, and the second driving piece is used for driving the bidirectional screw rod to rotate.

According to some embodiments of the invention, the cable robot further comprises two side detection mechanisms respectively arranged on the two side beams, wherein the side detection mechanisms comprise an upper swing frame, a lower swing arm, a first electric push rod, a second electric push rod and a first detection module, one end of the upper swing frame is rotationally connected with the side beam, the first electric push rod is used for pushing the upper swing frame to rotate around a rotating shaft parallel to the side beam, one end of the lower swing arm is rotationally connected with the other end of the upper swing frame, the second electric push rod is used for pushing the lower swing arm to rotate around a rotating shaft parallel to the side beam, and the first detection module is arranged on the lower swing arm.

According to some embodiments of the invention, the cable robot further comprises an intermediate detection mechanism, the intermediate detection mechanism comprises a second detection module and a folding bracket, the folding bracket is rotatably arranged on the intermediate frame, and the second detection module is arranged on the folding bracket.

From the above technical solutions, the embodiments of the present application have the following advantages: compared with the roller wheel with a motor directly driving the roller wheel structure, the cable robot can creep along the cable. According to the scheme, the handrail rope is clamped by the first peristaltic mechanism and the second peristaltic mechanism at intervals, and the driving assembly is used for driving the peristaltic corbel and the side beam to move relatively, so that the cable robot crawls forwards along the handrail rope, and the cable is overhauled. The cable robot is arranged in such a way that the first peristaltic mechanism or the second peristaltic mechanism is always kept to clamp the handrail rope in the crawling process along the handrail rope, so that the cable robot is ensured to stably crawl along the rope.

Drawings

FIG. 1 is a schematic diagram of a cable robot in accordance with an embodiment of the present invention in use;

FIG. 2 is a schematic view of the overall structure of a cable robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of a crawling mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic diagram showing an assembly structure of a first driving mechanism and a first peristaltic mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the structure of the intermediate frame and the second driving mechanism according to the embodiment of the invention;

FIG. 6 is a schematic structural view of a side detecting mechanism according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an intermediate detection mechanism according to an embodiment of the present invention.

Wherein the reference numerals have the following meanings:

10. a cable; 20. a handrail rope; 100. a middle frame; 110. supporting a main girder; 120. supporting the corbel; 130. reinforcing ribs; 140. a second guide rail; 200. a crawling device; 210. a crawling mechanism; 211. a side beam; 212. a front roller structure; 213. a rear roller structure; 214. a first guide rail; 215. a mounting base; 220. a first peristaltic mechanism; 230. a first driving mechanism; 231. peristaltic corbel; 232. a first driving member; 233. a rack; 234. a reduction gearbox; 235. a first guide rail seat; 240. a second peristaltic mechanism; 300. sliding the corbel; 310. a second guide rail seat; 400. a second driving mechanism; 410. a second driving member; 411. a driving motor; 412. a screw rod; 420. a sliding seat; 430. a connecting rod; 500. a control box; 600. a power supply; 700. a side detection mechanism; 710. a first detection module; 720. an upper swing frame; 730. a lower swing arm; 740. a first electric push rod; 750. a second electric push rod; 800. an intermediate detection mechanism; 810. a second detection module; 820. folding the bracket.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, upper, lower, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a number is one or more, the meaning of a number is two or more, and greater than, less than, exceeding, etc. are understood to exclude the present number, and the meaning of a number is understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

In the description of the present invention, the descriptions of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The invention is described in further detail below with reference to the accompanying drawings.

Referring to fig. 1 to 3, a cable robot according to an embodiment of the present invention includes a middle frame 100 and two crawling devices 200 with identical structures, one crawling device 200 is disposed on the left side of the middle frame 100 for crawling along one handrail rope 20, and the other crawling device 200 is disposed on the right side of the middle frame 100 for crawling along the other handrail rope 20.

Specifically, the crawling apparatus 200 includes a crawling mechanism 210, a first crawling mechanism 220, a first driving mechanism 230, and a second crawling mechanism 240, wherein the crawling mechanism 210 includes a side beam 211, a front roller structure 212 and a rear roller structure 213, the front roller structure 212 is assembled and connected to the front end of the side beam 211, and the rear roller structure 213 is assembled and connected to the rear end of the side beam 211; the first peristaltic mechanism 220 is disposed on the side beam 211 and is used for clamping the handrail rope 20; the first driving mechanism 230 comprises a peristaltic corbel 231 and a driving assembly, the peristaltic corbel 231 is slidably arranged on the side beam 211 and is positioned between the two first peristaltic mechanisms 220, and the driving assembly is connected with the side beam 211 and the peristaltic corbel 231 and is used for driving the side beam 211 and the peristaltic corbel 231 to slide relatively; the second peristaltic mechanism 240 is disposed on the peristaltic corbel 231 and is used for clamping the handrail rope 20; wherein, when the first peristaltic mechanism 220 is clamping the handrail rope 20, the second peristaltic mechanism 240 is in a released state, and the driving assembly drives the peristaltic corbel 231 to move along the handrail rope 20 relative to the side beam 211; when the second peristaltic mechanism 240 is gripping the handrail rope 20, the first peristaltic mechanism 220 is in a released state, and the driving assembly drives the side beam 211 to move along the handrail rope 20 relative to the peristaltic corbel 231 to peristaltic the cable robot along the handrail rope 20.

During operation, if the cable robot crawls forward, the first peristaltic mechanism 220 clamps the handrail rope 20, the side beam 211 remains stationary relative to the handrail rope 20, and the second peristaltic mechanism 240 is in an unclamped state, i.e. does not clamp the handrail rope 20. At this time, the driving assembly drives the peristaltic bridge 231 to move forward with respect to the side beam 211, and the second peristaltic mechanism 240 moves forward in synchronization with the peristaltic bridge 231. After the second peristaltic mechanism 240 moves forward a set distance, the second peristaltic mechanism 240 clamps the handrail rope 20, and the first peristaltic mechanism 220 is switched from the clamped state to the undamped state, i.e., the handrail rope 20 is not clamped, and the peristaltic corbel 231 remains stationary relative to the handrail rope 20. At this time, the driving assembly drives the side member 211 to move forward with respect to the peristaltic support beam 231, the front roller structure 212 and the rear roller structure 213 at the front and rear ends of the side member 211 are supported to creep forward in the extending direction of the armrest rope 20, and the first peristaltic mechanism 220 moves forward with the side member 211, whereby the cable robot climbs forward along the armrest rope 20. After the cable robot crawls a certain distance, the second peristaltic mechanism 240 is switched to move forward, so that the cable robot continuously crawls forward along the extending direction of the handrail rope 20, and the cable 10 is overhauled.

It will be appreciated that the cable robot is caused to crawl along the cable 10 as opposed to using a motor to directly drive the rollers of the roller structure. The first peristaltic mechanism 220 and the second peristaltic mechanism 240 are used for clamping the handrail rope 20 at intervals, and the driving assembly is used for driving the peristaltic corbel 231 and the side beams 211 to move relatively, so that the cable robot crawls forwards along the handrail rope 20, and the cable 10 is overhauled. So set up, the cable robot is in the crawling along handrail rope 20 in-process, keeps first peristaltic mechanism 220 or second peristaltic mechanism 240 to carry out the centre gripping to handrail rope 20 all the time to guarantee that the cable robot can stably crawl along the rope.

In addition, in the first aspect, more peristaltic mechanisms can be arranged on the side beams 211 along the length direction of the side beams 211, so that the clamping force on the handrail rope 20 is better, the cable robot is stable in the process of crawling along the handrail rope 20, and particularly, the cable robot can crawl along the handrail rope 20 with a certain gradient. In addition, the cable robot is stable in the crawling process, and can carry more detection tools. In the second aspect, the front roller structure 212 at the front end of the side beam 211 and the rear roller structure 213 at the rear end of the side beam 211 both climb along the handrail rope 20 during the crawling process of the cable robot, so that the cable robot can stably climb along the handrail rope 20, and the cable robot is prevented from vibrating greatly during the crawling process, thereby ensuring the maintenance quality of the cable 10 by the cable robot. In a third aspect, the peristaltic mechanisms may be more evenly distributed over the extended path of the side beams 211, facilitating later functional expansion, such as the addition of detection modules and maintenance modules.

In some embodiments, referring to fig. 1 and 3, there are two first peristaltic mechanisms 220 and two second peristaltic mechanisms 240, wherein one first peristaltic mechanism 220 is fixedly disposed in front of the side beam 211 and behind the front roller structure 212; another first peristaltic mechanism 220 is fixedly disposed at the rear of the side beam 211 and forward of the rear roller structure 213. Two second peristaltic mechanisms 240 are fixedly mounted to the peristaltic corbel 231, and one second peristaltic mechanism 240 is located after the other second peristaltic mechanism 240, i.e., two second peristaltic mechanisms 240 are located between two first peristaltic mechanisms 220.

It will be appreciated that there are two first peristaltic mechanisms 220 and two second peristaltic mechanisms 240; wherein two second peristaltic mechanisms 240 are positioned between two first peristaltic mechanism 220 brackets along the length of the side beam 211. By the arrangement, if the two first peristaltic mechanisms 220 are positioned at the front and rear positions of the side beams 211 when the handrail rope 20 is clamped, the side beams 211 can be ensured to be firmly connected relative to the handrail rope 20; if two second peristaltic mechanisms 240 are used to clamp the handrail rope 20 and two first peristaltic mechanisms 220 are located at the middle position of the side beam 211, the peristaltic support beams 231 can be firmly connected relative to the handrail rope 20.

In addition, the two second peristaltic mechanisms 240 are disposed at the middle position of the side beam 211, and the first driving mechanism 230 can conveniently assemble the two second peristaltic mechanisms 240 through the peristaltic support beam 231.

Of course, the first peristaltic mechanism 220 and the second peristaltic mechanism 240 of the crawling apparatus 200 are not limited to the present application, but one or more than two peristaltic mechanisms may be provided, and the present application is not limited to the present application. And, instead of two first peristaltic mechanisms 220 being disposed apart, two first peristaltic mechanisms 220 may be disposed adjacent to each other, i.e., two first peristaltic mechanisms 220 are not separated by second peristaltic mechanism 240.

In some embodiments, the first peristaltic mechanism 220 and the second peristaltic mechanism 240 are substantially identical in structure, and the clasping shoe assembly may be employed, i.e., with a drive member driving the two clasping shoes in relative motion or one clasping shoe in relative motion to the other clasping shoe to clamp the handrail rope 20.

In order to realize the sliding arrangement of the peristaltic corbel 231 on the side beam 211, in one possible embodiment, referring to fig. 3 and 4, the bottom of the side beam 211 is provided with a first guide rail 214 along its length direction, the top of the peristaltic corbel 231 is provided with a first guide rail seat 235, and the first guide rail seat 235 is slidably arranged on the first guide rail 214, so that the peristaltic corbel 231 is slidably arranged on the bottom of the side beam 211.

In some embodiments, referring to fig. 3 and 4, the driving assembly includes a first driving member 232, a rack 233 and a transmission gear, wherein the first driving member 232 is a servo motor, the servo motor is disposed on a peristaltic support beam 231 along a length direction of the side beam 211, a reduction gearbox 234 is disposed on the peristaltic support beam 231, a driving shaft of the servo motor is in transmission connection with an input shaft of the reduction gearbox 234, and the transmission gear is in transmission connection with an output shaft of the reduction gearbox 234. The rack 233 is fixedly fitted to the bottom of the side member 211 along the longitudinal direction of the side member 211, and the transmission gear is engaged with the rack 233. Of course, the first driving member 232 and the rack 233 may be in a position-changing manner, i.e., the first driving member 232 is disposed on the side beam 211 and the rack 233 is disposed on the peristaltic beam 231.

Specifically, when the first peristaltic mechanism 220 clamps the handrail rope 20 and the second peristaltic mechanism 240 does not clamp the handrail rope 20, at this time, the first driving member 232 drives the transmission gear to rotate through the reduction gearbox 234, and the transmission gear moves relative to the rack 233. Further, since the first peristaltic mechanism 220 clamps the handrail rope 20 and the side member 211 is fixed with respect to the handrail rope 20, the peristaltic bridge 231 moves along the length direction of the side member 211 under the action of the driving unit, and the second peristaltic mechanism 240 moves forward in synchronization with the peristaltic bridge 231. Conversely, when the first peristaltic mechanism 220 does not clamp the handrail rope 20 and the second peristaltic mechanism 240 clamps the handrail rope 20, the first driving member 232 drives the transmission gear to rotate through the reduction gearbox 234, and the transmission gear moves relative to the rack 233. Further, since the second peristaltic mechanism 240 holds the arm rest rope 20 and the peristaltic corbel 231 is fixed with respect to the arm rest rope 20, the side beam 211 moves in the longitudinal direction of the peristaltic corbel 231, and the first peristaltic mechanism 220 moves forward in synchronization with the side beam 211, and the cable robot moves forward as a whole.

In order to realize that the interval between the two crawling apparatuses 200 can be adapted to two handrail ropes 20 of any distance, in one possible embodiment, referring to fig. 2 and 5, the cable robot further includes at least two sliding support beams 300 and a second driving mechanism 400, wherein the middle frame 100 is provided with the second guide rail 140 along the vertical direction of the side beams 211, the side portions of the two sliding support beams 300 are provided with the second guide rail seats 310, and the second guide rail seats 310 on the two sliding support beams 300 slide on the second guide rail 140, whereby the two sliding support beams 300 are slidably arranged on the middle frame 100 along the direction perpendicular to the side beams 211. One of the sliding branch beams 300 is connected to one of the side beams 211, and the other sliding branch beam 300 is connected to the other side beam 211. The second driving mechanism 400 is connected to the two sliding support beams 300 for driving the two sliding support beams 300 to move relatively far away or close to each other to adjust the interval between the two side beams 211. Thus, when the interval between the two crawling apparatuses 200 is small, the second driving mechanism 400 drives the two sliding bridges 300 to move relatively far away, and the two sliding bridges 300 push the two crawling apparatuses 200 to move far away through the side beams 211 to fit the interval between the two handrail ropes 20. When the interval between the two crawling apparatuses 200 is large, the second driving mechanism 400 drives the two sliding support beams 300 to move relatively close, and the two sliding support beams 300 push the two crawling apparatuses 200 to move close through the side beams 211 to adapt to the interval between the two handrail ropes 20.

In one possible embodiment, the second driving mechanism 400 includes a sliding seat 420, a second driving member 410 and at least two connecting rods 430, wherein a third guide rail is disposed on the upper side of the middle frame 100 along a direction perpendicular to the sliding corbel 300, a third guide rail seat 310 is disposed on the lower side of the sliding seat 420, and the third guide rail seat is slidably disposed on the third guide rail, so that the sliding seat 420 is slidably disposed on the middle frame 100 along a direction perpendicular to the sliding corbel 300. One end of a connecting rod 430 is rotatably connected with the sliding seat 420, and the other end is rotatably connected with a sliding supporting beam 300; one end of the other connecting rod 430 is rotatably connected with the sliding seat 420, and the other end is rotatably connected with the other sliding corbel 300. The second driving member 410 is disposed on the middle frame 100, and is used for driving the sliding seat 420 to move along a direction perpendicular to the sliding beam 300.

Specifically, the second driving member 410 drives the sliding seat 420 to move toward the second guide rail 140, and the expansion degree of the two connecting rods 430 is increased, so that the two sliding corbels 300 are pushed to move away from each other, and the interval between the two crawling devices 200 is increased, so as to adapt to the interval between the two handrail ropes 20; conversely, the second driving member 410 drives the sliding seat 420 to move away from the second guide rail 140, so that the expansion degree of the two connecting rods 430 is reduced, and the two sliding corbels 300 are pulled to move closer to each other, so that the interval between the two crawling devices 200 is reduced, and the interval between the two handrail ropes 20 is adapted.

Of course, in other possible embodiments, the second driving mechanism includes a bidirectional screw rod, two nut seats and a second driving member (not shown in the drawings), wherein the bidirectional screw rod is arranged along the length direction of the sliding corbel and is rotatably connected with the intermediate frame, and one nut seat is connected with a threaded section of the bidirectional screw rod and is fixedly connected with one sliding corbel. The other nut seat is in threaded connection with the other threaded section of the bidirectional screw rod and is fixedly connected with the other sliding supporting beam. The second driving piece is a servo motor arranged on the middle frame, and a driving shaft of the servo motor is in transmission connection with the bidirectional screw rod, so that the second driving piece drives the bidirectional screw rod to rotate, and the bidirectional screw rod moves relatively far away from or close to the sliding supporting beam through the two nut seats, and the sliding supporting beam is driven to move relatively far away from or close to the sliding supporting beam.

Further describing the second driving member 410 driving the sliding seat 420 to move along the direction perpendicular to the sliding beam 300, in one possible embodiment, referring to fig. 2 and 5, the second driving member 410 includes a driving motor 411 and a screw 412, the length direction of the screw 412 is set along the direction perpendicular to the sliding beam 300, and two ends of the screw 412 are rotatably connected to the middle frame 100. The sliding seat 420 is provided with a nut seat, and the sliding seat 420 is in threaded connection with the screw rod 412 through the nut seat. The driving motor 411 is fixedly provided on the intermediate frame 100, and a driving shaft of the driving motor 411 is connected to an end portion of the screw 412, whereby the driving motor 411 drives the screw 412 to rotate. Specifically, the driving motor 411 drives the screw rod 412 to rotate, and the screw rod 412 drives the sliding seat 420 to slide along the direction of the vertical sliding support beam 300, so that the sliding support beam 300 is driven to move relatively close to or away from the sliding support beam by the two connecting rods 430, so as to adjust the interval between the two crawling devices 200.

In a further possible embodiment, the screw rod 412 is a bidirectional screw rod, the sliding seat 420 is provided with two sliding support beams 300 and four sliding support beams 300, wherein the two sliding support beams 300 are slidably disposed at the front portion of the middle frame 100 and are respectively connected with the two side beams 211, one sliding seat 420 is in threaded connection with a threaded section of the bidirectional screw rod 412, and the sliding seat 420 is respectively connected with the two sliding support beams 300 at the front side through two connecting rods 430 so as to drive the two sliding support beams 300 to move away from or close to each other. The other two sliding support beams 300 are slidably disposed at the tail of the middle frame 100 and are respectively connected with the two side beams 211, the other sliding seat 420 is in threaded connection with the other threaded section of the bidirectional screw rod 412, and the sliding seat 420 is respectively connected with the other two sliding support beams 300 through the other two connecting rods 430 so as to drive the two sliding support beams 300 to move away from or close to each other.

It will be appreciated that two sliding corbels 300 are connected between the front portions of two crawling apparatuses 200, and the other two sliding corbels 300 are connected between the rear portions of two crawling apparatuses 200, so that the middle frame 100 stably assembles the two crawling apparatuses 200 together through the four sliding corbels 300. Meanwhile, a group of sliding corbels 300 are respectively arranged at the front and rear of the middle frame 100, so that the interval between the two crawling devices 200 can be controlled more conveniently.

In addition, the control of the two groups of sliding corbels 300 is realized by using one power source (the driving motor 411), the two groups of sliding corbels 300 are not required to be driven by two power sources respectively, the weight of the cable robot is reduced, and the cost of the cable robot is saved.

In other possible embodiments, the screw rod 412 is a unidirectional screw rod, and the screw rod 412 is screwed with one or more sliding seats 420, and each sliding seat 420 is correspondingly provided with a set of sliding corbels 300, and one set of sliding corbels 300 is two sliding corbels 300 that slide relatively. Wherein, each sliding seat 420 is rotatably provided with two connecting rods 430 to be rotatably connected with two sliding corbels 300 of a group of sliding corbels 300, respectively.

In some embodiments, referring to fig. 2 and 5, the middle frame 100 includes a support girder 110, two support corbels 120, and a reinforcing rib 130, wherein the support girder 110 is positioned between the two side beams 211 and is disposed parallel to the side beams 211, one support corbel 120 is vertically connected to a front end portion of the support girder 110, the other support corbel 120 is vertically connected to a rear portion of the support girder 110, and the reinforcing rib 130 is connected to the support girder 110 and the support corbel 120. The side walls of the two supporting beams 120 are provided with second guide rails 140, the second rail seats 310 of the two sliding beams 300 are slidably disposed on the second guide rails 140 of the front side, and the two sliding beams 300 are slidably disposed on the supporting beams 120 of the front side to be connected with the two side beams 211, respectively; the second rail seat 310 of the other two sliding corbels 300 slides the second rail 140 provided at the rear side, and the two sliding corbels 300 slide the supporting corbels 120 provided at the rear side to be connected with the two side beams 211, respectively; meanwhile, the supporting main beam 110 is slidably provided with two sliding seats 420 through a guide rail structure, and the two sliding seats 420 are respectively and rotatably connected with two connecting rods 430 so as to be respectively and rotatably connected with two sliding corbels 300 on the supporting corbel 120.

It can be appreciated that the intermediate frame 100 adopts the above-mentioned structure, on the one hand, the overall structure of the intermediate frame 100 is relatively simple, and the intermediate frame 100 has a relatively good strength through the arrangement of the reinforcing ribs 130, so that the intermediate frame 100 not only ensures the overall strength of the cable robot, but also ensures that the weight of the cable robot is not too heavy. On the other hand, the second driving mechanism 400 may be conveniently assembled to the middle frame 100 with the lengthwise direction of the support main beam 110 being set along the extension direction of the side beam 211, and the four sliding sub beams 300 may be conveniently assembled to the middle frame 100 with the lengthwise direction of the two support sub beams 120 being set along the vertical direction of the side beam 211, which is not described in detail.

In some embodiments, referring to fig. 1, 2 and 6, the cable robot further includes two side detection mechanisms 700, one side detection mechanism 700 being disposed outside of the left side beam 211 for detecting the left side of the cable 10; the other side detecting mechanism 700 is provided outside the right side member 211 for detecting the right side of the cable 10. Thus, the two side detection mechanisms 700 cooperate to detect surface defects of the cable 10.

Specifically, the side detection mechanism 700 includes an upper swing frame 720, a lower swing arm 730, a first electric push rod 740, a second electric push rod 750, and a first detection module 710, wherein the outside of the side beam 211 is provided with a mounting seat 215, one end of the upper swing frame 720 is rotatably connected with the side beam 211, the rotation center axis is arranged parallel to the side beam 211, the main body of the first electric push rod 740 is rotatably connected with the mounting seat 215, the power rod of the first electric push rod 740 is rotatably connected with the upper swing frame 720, and thus, the first electric push rod 740 is used for pushing the upper swing frame 720 to rotate around a rotation axis parallel to the side beam 211. One end of the lower swing arm 730 is rotatably connected with the other end of the upper swing frame 720, the rotation center shaft is parallel to the side beam 211, the main body of the second electric push rod 750 is rotatably connected with the upper swing frame 720, the power rod of the second electric push rod 750 is rotatably connected with the lower swing arm 730, and the first detection module 710 is arranged at the other end and/or other positions of the lower swing arm 730.

Specifically, the power lever of the first electric push rod 740 is contracted, the upper swing frame 720 is rotated upward, and the power lever of the second electric push rod 750 is contracted, and the lower swing arm 730 is rotated upward, whereby the side detecting mechanism 700 is unfolded upward as a whole, reducing interference of the side detecting mechanism 700, thereby facilitating assembly of the cable robot to the armrest rope 20. When the side detection mechanism 700 detects the cable 10, the power lever of the first electric push rod 740 is extended, the upper swing frame 720 is rotated downward, and the power lever of the second electric push rod 750 is extended, and the lower swing arm 730 is rotated downward, thereby adjusting the position and posture of the side detection mechanism 700, and further, the defect of the surface of the cable 10 can be sufficiently detected.

In some embodiments, referring to fig. 1 and 7, the cable robot further includes an intermediate detection mechanism 800, the intermediate detection mechanism 800 includes a second detection module 810 and a folding bracket 820, the folding bracket 820 is rotatably disposed on the intermediate frame 100, the rotation center axis is disposed perpendicular to the side beam 211, and the second detection module 810 is disposed on the folding bracket 820. When the cable robot is being carried, the folding bracket 820 may be folded upward and attached to the bottom of the middle frame 100, thereby facilitating the carrying of the cable robot. In a cable robot application, the deployment folding support 820 may be rotated downward and the second detection module 810 may access the upper side of the cable 10.

The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims

1. The utility model provides a cable robot, its characterized in that includes the intermediate frame with set up side by side in two devices of crawling of intermediate frame, two the device of crawling is used for crawling along the handrail rope respectively, wherein, each the device of crawling includes:

2. The cable robot of claim 1, wherein two first peristaltic mechanisms are provided, one first peristaltic mechanism is fixedly arranged at the front part of the side beam and behind the front roller structure, and the other first peristaltic mechanism is fixedly arranged at the tail part of the side beam and in front of the rear roller structure;

3. The cable robot of claim 1, wherein the drive assembly includes a first drive member, a rack and a drive gear, wherein the first drive member is disposed on one of the side beam and the peristaltic corbel, the rack is connected to the other, and the drive gear is connected to the first drive member and is meshed with the rack.

4. The cable robot of claim 1, further comprising:

5. The cable robot of claim 4, wherein said second drive mechanism comprises:

6. The cable robot of claim 5, wherein the second driving member includes a driving motor and a screw, the screw is rotatably connected to the intermediate frame, the sliding seat is threadedly connected to the screw, and the driving motor is used for driving the screw to rotate;

7. The cable robot of claim 6, wherein the intermediate frame comprises a support girder, two support girders and a reinforcing rib, wherein the support girder is positioned between the two side beams and is parallel to the side beams, one support girder is vertically connected to a front end portion of the support girder, the other support girder is vertically connected to a rear portion of the support girder, and the reinforcing rib is connected to the support girder and the support girders; each supporting strut beam is provided with two sliding strut beams in a sliding mode so as to be connected with the two side beams respectively, each supporting main beam is provided with two sliding seats in a sliding mode, and the two sliding seats are respectively connected with two connecting rods in a rotating mode so as to be respectively connected with the two sliding strut beams on the supporting strut beams in a rotating mode.

8. The cable robot of claim 4, wherein the second drive mechanism comprises a bi-directional screw rod, two nut seats and a second drive member, wherein the bi-directional screw rod is rotatably connected to the intermediate frame, one of the nut seats is connected to a threaded section of the bi-directional screw rod and fixedly connected to one of the sliding corbels; the other nut seat is in threaded connection with the other threaded section of the bidirectional screw rod and is fixedly connected with the other sliding supporting beam, and the second driving piece is used for driving the bidirectional screw rod to rotate.

9. The cable robot of claim 1, further comprising two side detection mechanisms respectively disposed on the two side beams, wherein the side detection mechanisms include an upper swing frame, a lower swing arm, a first electric push rod, a second electric push rod, and a first detection module, wherein one end of the upper swing frame is rotatably connected with the side beam, the first electric push rod is used for pushing the upper swing frame to rotate around a rotation axis parallel to the side beam, one end of the lower swing arm is rotatably connected with the other end of the upper swing frame, the second electric push rod is used for pushing the lower swing arm to rotate around a rotation axis parallel to the side beam, and the first detection module is disposed on the lower swing arm.

10. The cable robot of claim 1, further comprising an intermediate detection mechanism, the intermediate detection mechanism comprising a second detection module and a folding support, the folding support rotatably disposed in the intermediate frame, the second detection module disposed in the folding support.