CN211973101U - Split type cable climbing detection robot - Google Patents

Abstract

The utility model provides a split type cable climbing inspection robot, include: climbing supporting part, line drive portion, follow-up detection portion and controller, wherein, the climbing supporting part includes the frame, climbing running gear, follow-up pretension mechanism, the mechanism is embraced tightly in the initiative, first driving motor and second driving motor, climbing running gear is including climbing the mounting bracket and climbing the wheelset, the mechanism is embraced tightly in the initiative includes second drive assembly and embraces the folder, line drive portion is including connecting rope and rolling actuating mechanism, follow-up detection portion is including the installation framework, guide pulley subassembly and embrace and press from both sides the mechanism, the controller is used for controlling first driving motor respectively, second driving motor, rolling actuating mechanism and embracing and pressing from both sides the mechanism. By the technical scheme, the problems of multiple mechanism joints, low crawling operation speed and low load capacity of the bridge cable climbing detection robot in the prior art are solved.

Description

Split type cable climbing detection robot

Technical Field

The utility model belongs to the technical field of the design is equipped in the cable detection, especially, relate to a split type cable climbing inspection robot.

Background

Bridge cable climbing inspection robot both had been worked under abominable, the complex environment, need consider the high fail safe nature that long distance detected again etc. therefore, no matter technically or in the application, research and application of bridge cable climbing inspection robot are undoubtedly a very big challenge.

The mechanical structure of the bridge cable climbing detection robot is a main body of the robot and is a key for determining subsequent related design of the robot. At present, the design, production and application of most robots are constrained by the conditions of multiple mechanism joints, large volume, heavy weight, poor load capacity and the like. The mechanism has various joints, the kinematics decoupling control difficulty is high, and the control precision cannot reach the standard; the robot is large and heavy, cannot meet the operation requirement of a guy cable, and has low industrial practical level; if the load capacity is poor, the inspection device cannot carry enough power supply and detection equipment, and the inspection task cannot be executed for a long time.

For some existing wheeled robots, a plurality of wheels of double-side wheels or multi-side wheels are used for pre-tightening and are pressed against the surfaces of cables to roll and advance, the weight of the robots is generally large, the climbing operation speed on bridge inhaul cables stretched longitudinally is slow, and due to the large weight of the robots, the loads are low due to the limiting factor of the preparation quality of the operation loads, and the engineering requirements of cable detection cannot be well met.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a split type cable climbing inspection robot is provided, aim at solving among the prior art bridge cable climbing inspection robot and exist the mechanism joint numerous, creep the problem that the functioning speed is slow, load-carrying capacity is low.

In order to solve the technical problem, the utility model relates to a realize like this, a split type cable climbing inspection robot, include: the climbing support part comprises a frame, a climbing walking mechanism, a follow-up pre-tightening mechanism, an active holding mechanism, a first driving motor and a second driving motor, the climbing walking mechanism comprises a climbing mounting frame and a climbing wheel set, the climbing mounting frame is fixed on the frame, the climbing wheel set is connected to the climbing mounting frame, the follow-up pre-tightening mechanism comprises a first transmission component and a follow-up wheel component, the first transmission component is connected to the frame, the follow-up wheel component is connected to the frame, the first transmission component is in transmission connection with the follow-up wheel component, the active holding mechanism comprises a second transmission component and a holding clamp, the second transmission component is connected to the frame, the second transmission component is in rotation connection with the holding clamp, the first driving motor is fixed to the climbing mounting frame, the second driving motor is assembled on the frame, a power output end of the first driving motor is in driving connection with the climbing wheel set, and a power output end of the second, The second transmission assembly is in driving connection, and the movement direction of the follow-up roller assembly driven by the first transmission assembly is opposite to the movement direction of the clamping piece driven by the second transmission assembly; the wire driving part comprises a connecting rope and a winding driving mechanism, wherein the first end of the connecting rope is fixedly connected to the clamping piece, and the second end of the connecting rope is fixedly connected to the winding driving mechanism; the winding driving mechanism, the guide wheel assembly and the clamping mechanism are all fixedly assembled on the installation frame body, wherein the installation frame body forms an accommodating space for accommodating a cable; and the controller is used for respectively controlling the first driving motor, the second driving motor, the winding driving mechanism and the holding and clamping mechanism.

Further, the climbing wheelset includes drive wheel, leading wheel and a plurality of auxiliary wheel, and the drive wheel all rotationally connects in the climbing mounting bracket with the leading wheel, and a driving motor's power take off end is connected with the drive wheel drive, and a plurality of auxiliary wheels rotationally connect in the climbing mounting bracket and lie in between drive wheel and the leading wheel, are connected through climbing drive belt transmission between drive wheel and a plurality of auxiliary wheel.

Furthermore, the first transmission assembly comprises a first transmission shaft, two first transmission arms and an elastic part, the first transmission shaft is rotatably installed on the rack, the first transmission shaft is in driving connection with the power output end of the second driving motor, the two first transmission arms are rotatably installed on the rack and correspond to the two shaft end parts of the first transmission shaft respectively, the two shaft end parts of the first transmission shaft are in driving connection with the corresponding first transmission arms respectively, each first transmission arm is provided with the elastic part, and the first connection end of the elastic part is fixedly assembled on the first transmission arm; the follow-up roller assembly comprises two roller mounting frames and a plurality of follow-up rollers, the two roller mounting frames are respectively and correspondingly mounted on the two first transmission arms, the second connecting end of the elastic part is fixedly assembled on the roller mounting frames, and the plurality of follow-up rollers are rotatably mounted on the roller mounting frames.

Further, the second transmission assembly comprises a second transmission shaft and two second transmission arms, the second transmission shaft is rotatably installed on the frame, the second transmission shaft is in driving connection with the power output end of the second driving motor, the two second transmission arms are rotatably installed on the frame, the two second transmission arms are respectively corresponding to the two shaft end portions of the second transmission shaft, the two shaft end portions of the second transmission shaft are respectively in driving connection with the corresponding second transmission arms, and each second transmission arm is rotatably connected with a clamping piece.

Furthermore, first transmission threads are arranged at two shaft end parts of the first transmission shaft, and a first transmission worm wheel matched with the first transmission threads is fixedly connected to the first transmission arm; second transmission threads are arranged at two shaft end parts of the second transmission shaft, and a second transmission worm wheel matched with the second transmission threads is fixedly connected to the second transmission arm; the rotating direction of the first transmission thread is opposite to that of the second transmission thread.

Furthermore, the first transmission shaft is in transmission connection with the power output end of the second driving motor through a first transmission belt, and the second transmission shaft is in transmission connection with the power output end of the second driving motor through a second transmission belt.

Further, the winding driving mechanism comprises a winding support, a winding wheel and a winding motor, the winding support is fixedly mounted on the mounting frame body, the winding wheel is rotatably mounted on the winding support, the winding motor is fixedly mounted on the winding support, a power output end of the winding motor is in driving connection with the winding wheel, and the winding motor is electrically connected with the controller.

Further, the number of the guide wheel assemblies is two, and the two guide wheel assemblies are arranged in central symmetry relative to the center point of the accommodating space.

Further, the guide wheel assembly includes a guide wheel bracket rotatably connected to the mounting frame, a compression spring assembled between the guide wheel bracket and the mounting frame, and a guide wheel rotatably mounted to the guide wheel bracket, the compression spring providing the guide wheel bracket with an elastic force pressing the guide wheel toward the cable.

Further, the holding and clamping mechanism comprises a holding and clamping motor, a holding and clamping transmission belt, a holding and clamping transmission rod, holding and clamping foot palms and two holding and clamping arms, the holding and clamping motor is fixedly installed in the installation frame body, the holding and clamping motor is electrically connected with the controller, the holding and clamping transmission rod is rotatably connected to the installation frame body, the power output end of the holding and clamping motor is in transmission connection with the holding and clamping transmission rod through the holding and clamping transmission belt, transmission threads are arranged at two ends of the holding and clamping transmission rod, first ends of the two holding and clamping arms are rotatably connected to the installation frame body, transmission worm gear teeth meshed with the transmission threads are arranged at the first ends of the two holding and clamping arms, and the two holding and clamping foot palms.

Compared with the prior art, the utility model, beneficial effect lies in:

the utility model provides a split type cable climbing detection robot which carries out relative detection work on the cable, because the climbing supporting part as the traction foundation and the follow-up detection part as the detection work as the main are designed separately and connected by the line driving part, in the moving process, the climbing supporting part is fixed after moving to become the fixed fulcrum of the moving follow-up detection part, then the rolling driving mechanism rolling connecting rope of the line driving part provides the traction force for pulling the follow-up detection part to move, the split design makes each part as a specific function module to be clearly distinguished, the joint structure of the robot is simple and clear, and the climbing supporting part can improve the moving speed, and the line driving part can also more quickly pull the follow-up detection part to move, thereby improving the overall crawling operation speed of the detection robot, the operation efficiency is improved, and the whole load capacity of the detection robot is improved, so that more detection instruments can be carried at one time to carry out more comprehensive detection work on the cable.

Drawings

Fig. 1 is a schematic structural diagram of a split type cable climbing detection robot according to an embodiment of the present invention assembled on a cable;

fig. 2 is a schematic structural diagram of a first view angle of the split type cable climbing detection robot according to the embodiment of the present invention;

fig. 3 is a schematic structural diagram of a second view angle of the split type cable climbing detection robot according to the embodiment of the present invention;

fig. 4 is a schematic structural view of the split type cable climbing detection robot according to the embodiment of the present invention after the climbing support part is detached;

FIG. 5 is a schematic mechanism diagram of a climbing travelling mechanism in a climbing support part of the split type cable climbing detection robot according to the embodiment of the present invention;

FIG. 6 is an exploded view of FIG. 5;

fig. 7 is a schematic structural diagram of a follow-up pre-tightening mechanism and an active clasping mechanism in a climbing support part of the split type cable climbing detection robot according to the embodiment of the present invention;

FIG. 8 is a partially exploded view of FIG. 7;

FIG. 9 is a schematic view of the elastic member of the first transmission assembly in the climbing support of the split cable climbing detection robot according to the embodiment of the present invention;

fig. 10 is a schematic view of a frame in a climbing support of the split cable climbing detection robot according to the embodiment of the present invention;

fig. 11 is a schematic structural diagram of a winding driving mechanism of the split type cable climbing detection robot according to the embodiment of the present invention;

fig. 12 is an exploded view of a guide wheel assembly in the follow-up detection part of the split cable climbing detection robot according to the embodiment of the present invention;

fig. 13 is a schematic structural diagram of a first view angle of a clamping mechanism in a follow-up detection portion of the split type cable climbing detection robot according to the embodiment of the present invention;

fig. 14 is a schematic structural diagram of a second view angle of the clasping mechanism in the follow-up detection portion of the split type cable climbing detection robot according to the embodiment of the present invention.

In the drawings, each reference numeral denotes:

10. a climbing support; 11. a frame; 111. an installation position; 12. a climbing travelling mechanism; 13. a follow-up pre-tightening mechanism; 14. an active clasping mechanism; 15. a first drive motor; 151. a first decelerator; 16. a second drive motor; 17. a portable handle; 121. climbing a mounting rack; 122. a climbing wheel set; 1221. a drive wheel; 1222. a guide wheel; 1223. an auxiliary wheel; 1224. climbing a transmission belt; 131. a first transmission assembly; 1311. a first drive shaft; 13110. a first drive thread; 1312. a first transmission arm; 13120. a first drive worm gear; 1313. an elastic member; 13131. a first connection end; 13132. a second connection end; 132. a follow-up roller assembly; 1321. a roller mounting frame; 1322. a follow-up roller; 141. a second transmission assembly; 1411. a second drive shaft; 14110. a second drive thread; 1412. a second drive arm; 14120. a second drive worm gear; 142. clamping pieces are embraced; 1421. extending the hangers; 20. a line driving section; 21. connecting ropes; 22. a winding driving mechanism; 221. winding a support; 222. a winding wheel; 2221. a winding wheel gear; 2222. a protective shell; 2223. a wire guide wheel; 223. a winding motor; 2231. a second decelerator; 2232. a winding driving gear; 30. a follow-up detection unit; 31. installing a frame body; 32. a guide wheel assembly; 321. a guide wheel bracket; 322. a compression spring; 323. a guide wheel; 324. an auxiliary guide wheel; 33. a clamping mechanism; 331. a clamping motor; 332. clamping the transmission belt; 333. a clamping transmission rod; 3330. a drive screw; 334. clamping arms are embraced; 335. clamping the sole of the foot; 336. a clamp mounting rack; 41. a first drive belt; 42. a second belt; 100. a cable; 200. and (5) detecting the instrument.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

As shown in fig. 1 to 4, the utility model provides a split type cable climbing detection robot. The split type cable climbing detection robot includes a climbing support 10, a wire driving part 20, a follow-up detection part 30, and a controller (not shown). Wherein: the climbing support part 10 comprises a frame 11, a climbing walking mechanism 12, a follow-up pre-tightening mechanism 13, a driving clasping mechanism 14, a first driving motor 15 and a second driving motor 16; the wire driving part 20 includes a connecting rope 21 and a winding driving mechanism 22; the follow-up detection unit 30 includes a mounting frame 31, a guide wheel assembly 32, and a clasping mechanism 33. Specifically, the climbing walking mechanism 12 includes a climbing mounting frame 121 and a climbing wheel group 122, the climbing mounting frame 121 is fixed on the frame 11, the climbing wheel group 122 is connected to the climbing mounting frame 121, the follow-up pre-tightening mechanism 13 includes a first transmission component 131 and a follow-up roller component 132, the first transmission component 131 is connected to the frame 11, the follow-up roller component 132 is connected to the frame 11, the first transmission component 131 is in transmission connection with the follow-up roller component 132, the active clasping mechanism 14 includes a second transmission component 141 and a clasping component 142, the second transmission component 141 is connected to the frame 11, the second transmission component 141 is in rotation connection with the clasping component 142, the first driving motor 15 is fixed to the climbing mounting frame 121, the second driving motor 16 is assembled to the frame 11, a power output end of the first driving motor 15 is in driving connection with the climbing wheel group 122, a power output end of the second driving motor 16 is respectively connected, The second transmission assembly 141 is connected in a driving manner, the first transmission assembly 131 drives the following roller assembly 132 to move in a direction opposite to the direction in which the second transmission assembly 141 drives the clasping member 142, the first end of the connecting rope 21 is fixedly connected to the extending lug 1421 of the clasping member 142, the second end of the connecting rope 21 is fixedly connected to the rolling driving mechanism 22, the guide wheel assembly 32 and the clasping mechanism 33 are all fixedly assembled to the mounting frame body 31, wherein the mounting frame body 31 forms a containing space for containing the cable 100, and the controller is used for respectively controlling the first driving motor 15, the second driving motor 16, the rolling driving mechanism 22 and the clasping mechanism 33.

The utility model discloses in, the split type cable climbing inspection robot that uses the provided carries out the in-process that detects to cable 100, at first will scramble supporting part 10 and install on cable 100, then install follow-up detection portion 30 on cable 100, in this split type cable climbing inspection robot, rolling actuating mechanism 22 is fixed in installation framework 31, therefore is connected follow-up detection portion 30 and climbing supporting part 10 through connecting rope 21. After the climbing support 10 and the follow-up detection part 30 are installed and connected by the connection rope 21, at this time, the climbing wheel set 122 and the follow-up roller assembly 132 pre-clasps the cable 100 and the clasping member 142 releases the cable 100, the guide wheel assembly 32 positions the cable 100 in a surrounding manner and the clasping mechanism 33 releases the cable 100, and then the controller controls the first driving motor 15, the second driving motor 16, the winding driving mechanism 22 and the clasping mechanism 33 to operate, in the specific operation process, the first driving motor 15 drives the climbing wheel set 122 to rotate so that the climbing support 10 moves integrally along the cable 100, at this time, the follow-up roller assembly 132 rotates along the cable 100 to keep the climbing support 10 moving stably relative to the cable 100 integrally, and after the climbing support 10 moves along the cable 100, the connection rope 21 is tightened so that a spacing distance exists between the climbing support 10 and the follow-up detection part 30, then the controller controls the second driving motor 16 to start to drive the clasping member 142 to clasp the cable 100 to fix the whole climbing support portion 10, and controls the first driving motor 15 to stop working, when the follow-up detection portion 30 needs to move along the cable 100 to perform detection work, the controller controls the winding driving mechanism 22 to work to wind the connecting rope 21, so as to draw the whole follow-up detection portion 30 to move along the cable 100, when the follow-up detection portion moves to a working position where detection is needed, the controller controls the clasping mechanism 33 to clasp the cable 100 to fix the whole follow-up detection portion 30, and at this time, the controller controls the detection instrument 200 installed on the installation frame 31 to work to perform relevant detection work on the cable 100.

The utility model provides an application split type cable climbing detection robot carries out the relevant detection work to cable 100, because this detection robot is as drawing the basic climbing supporting part 10 and as the follow-up detection part 30 that detection worker is the main for the components of a whole that can function independently design, and connect both through line drive portion 20, in the in-process that removes like this, it becomes the fixed fulcrum of removal follow-up detection part 30 to remove the back fixed with climbing supporting part 10, then provide the traction force of drawing follow-up detection part 30 and removing through the rolling actuating mechanism 22 rolling connecting rope 21 of line drive portion 20, so the components of a whole that can function as specific module and distinguish clearly, make the joint structure of robot succinct and clear, and because climbing supporting part 10, line drive portion 20 and follow-up detection part 30 work separately do not influence each other, make climbing supporting part 10 can improve the rate of removal, and the line driving part 20 can also draw the follow-up detection part 30 to move more swiftly, thereby improving the overall crawling operation speed of the detection robot, improving the operation efficiency, and, independently use the line driving part 20 to draw the follow-up detection part 30 in the detection robot, so that the drawing power is abundant, thereby more detection instruments 200 can be assembled on the installation frame body 31 of the follow-up detection part 30, the overall load capacity of the detection robot is improved, thereby more comprehensive detection work is performed on the cable 100.

In this embodiment, the controller is an execution module capable of implementing instruction control, such as a CPU integrated controller, an MCU integrated control module, or a PLC integrated control module, which is mature in technology and widely used in the prior art, and thus is not described herein again. In addition, in the present embodiment, at least one mounting position 111 is provided on the rack 11, so that the controller is fixedly mounted on the mounting position 111.

As shown in fig. 5 and 6, in the split cable climbing detection robot, the climbing wheel set 122 includes a driving wheel 1221, a guide wheel 1222, and a plurality of auxiliary wheels 1223. During the assembly, drive wheel 1221 and leading wheel 1222 all rotationally connect in climbing mounting bracket 121, a plurality of auxiliary wheels 1223 rotationally connect in climbing mounting bracket 121 and be located between drive wheel 1221 and the leading wheel 1222, drive wheel 1221 after the installation is accomplished, leading wheel 1222 and a plurality of auxiliary wheels 1223 are arranged in a row, the power take off end of first driving motor 15 is connected with drive wheel 1221 drive through first reduction gear 151, be connected through climbing drive belt 1224 transmission between drive wheel 1221 and a plurality of auxiliary wheels 1223. The climbing transmission belt 1224 is a toothed belt, and correspondingly, the driving wheel 1221 and the auxiliary wheels 1223 are respectively provided with meshing teeth meshed with the teeth of the toothed belt, so that synchronous transmission between the driving wheel 1221 and the auxiliary wheels 1223 is effectively ensured through meshing transmission of the toothed belt, and the belt is prevented from slipping. The plurality of auxiliary wheels 1223 can effectively assist in increasing the contact surface with the cable 100, so that the moving traction force provided by the driving wheels 1221 can be effectively transmitted to the surface of the cable 100 to ensure that the climbing support 10 stably crawls along the cable 100. The guide wheel 1222 is always attached to the cable 100 during the moving process, and the guiding effect thereof can make the climbing support 10 more stable and not deviated in direction during the climbing moving process.

A portable handle 17 is connected to the climbing mount 121, and the entire climbing support 10 can be easily carried by the portable handle 17.

As shown in fig. 7 to 10, the first transmission assembly 131 includes a first transmission shaft 1311, two first transmission arms 1312, and a resilient member 1313. The first transmission shaft 1311 is rotatably mounted on the frame 11, the first transmission shaft 1311 is in driving connection with the power output end of the second driving motor 16, the two first transmission arms 1312 are rotatably mounted on the frame 11, the two first transmission arms 1312 correspond to two shaft end portions of the first transmission shaft 1311 respectively, the two shaft end portions of the first transmission shaft 1311 are in transmission connection with the corresponding first transmission arms 1312 respectively, each first transmission arm 1312 is provided with an elastic member 1313, and the first connection end 13131 of the elastic member 1313 is fixedly assembled on the first transmission arm 1312. As shown in fig. 7 to 10, the follower roller assembly 132 includes two roller mounting brackets 1321 and a plurality of follower rollers 1322. The two roller mounting brackets 1321 are respectively and correspondingly mounted on the two first transmission arms 1312, the second connection end 13132 of the elastic member 1313 is fixedly mounted on the roller mounting bracket 1321, and the plurality of follower rollers 1322 are rotatably mounted on the roller mounting bracket 1321. Further, as shown in fig. 7 to 10, the second transmission assembly 141 includes a second transmission shaft 1411 and two second transmission arms 1412. The second transmission shaft 1411 is rotatably mounted on the frame 11, the second transmission shaft 1411 is in driving connection with the power output end of the second driving motor 16, the two second transmission arms 1412 are rotatably mounted on the frame 11, the two second transmission arms 1412 respectively correspond to two shaft ends of the second transmission shaft 1411, the two shaft ends of the second transmission shaft 1411 are respectively in driving connection with the corresponding second transmission arms 1412, and each second transmission arm 1412 is rotatably connected with the clasping piece 142. Specifically, as shown in fig. 7 and 8, first transmission threads 13110 are disposed on two shaft end portions of the first transmission shaft 1311, a first transmission worm wheel 13120 matched with the first transmission threads 13110 is fixedly connected to the first transmission arm 1312, second transmission threads 14110 are disposed on two shaft end portions of the second transmission shaft 1411, and a second transmission worm wheel 14120 matched with the second transmission threads 14110 is fixedly connected to the second transmission arm 1412, wherein a rotation direction of the first transmission threads 13110 is opposite to a rotation direction of the second transmission threads 14110.

During operation, the second driving motor 16 operates to synchronously transmit power to the first transmission shaft 1311 and the second transmission shaft 1411 such that the first transmission shaft 1311 rotates in the same direction as the second transmission shaft 1411. The first transmission shaft 1311 drives the two first transmission arms 1312 to move through the first transmission screw 13110, the first transmission arms 1312 drive the roller mounting rack 1321 to move, accordingly, the second transmission shaft 1411 drives the two second transmission arms 1412 to move through the second transmission screw 14110, and the second transmission arms 1412 drive the two clasping members 142 to move. Since the rotation directions of the first transmission screw 13110 and the second transmission screw 14110 are opposite, when the second driving motor 16 drives the roller mounting rack 1321 to operate to pre-press the follower roller 1322 on the cable 100, the clasping member 142 is expanded to release the cable 100, and conversely, when the second driving motor 16 drives the clasping member 142 to clamp the cable 100, the follower roller 1322 is expanded to release the cable 100. In the process of installing the climbing support 10 on the cable 100, the follower rollers 1322 and the clasping members 142 are adjusted together to a half-opened state, at which the cable 100 passes through the opened openings of the follower rollers 1322 and the clasping members 142, then the second driving motor 16 is started to drive the follower rollers 1322 to pre-tighten the cable 100, the first driving motor 15 is started to move the climbing support 10 to a predetermined position along the cable 100 as a whole, the second driving motor 16 drives the clasping members 142 to clasp the cable 100 again, so that the climbing support 10 is fixed to the cable 100 as a whole, at which time the follower rollers 1322 are in an opened state, and the first driving motor 15 stops working. When the climbing support 10 needs to be moved again, the first driving motor 15 is started to drive the driving wheel 1221 and the auxiliary wheel 1223 to rotate, and the second driving motor 16 is started to drive the clasping member 142 to open and the follower roller 1322 to pre-compress the cable 100, so that the climbing support 10 does not fall down along the cable 100 due to its own weight when moving again.

In the split type cable detecting robot, a first transmission shaft 1311 is in transmission connection with a power output end of a second driving motor 16 through a first transmission belt 41, and a second transmission shaft 1411 is in transmission connection with a power output end of the second driving motor 16 through a second transmission belt 42. The first transmission belt 41 and the second transmission belt 42 are both toothed belts, and the middle parts of the first transmission shaft 1311 and the second transmission shaft 1411 are both provided with meshing teeth which are meshed with the teeth of the toothed belts, and the meshing teeth can be formed by directly processing and molding shaft blanks of the first transmission shaft 1311 and the second transmission shaft 1411, or can be formed by assembling the corresponding gears on the first transmission shaft 1311 and the second transmission shaft 1411.

As shown in fig. 11, the winding drive mechanism 22 includes a winding holder 221, a winding wheel 222, and a winding motor 223. Specifically, the winding support 221 is fixedly mounted on the mounting frame 31, the winding wheel 222 is rotatably mounted on the winding support 221, the winding motor 223 is fixedly mounted on the winding support 221, a power output end of the winding motor 223 is in driving connection with the winding wheel 222 through the second speed reducer 2231, and the winding motor 223 is electrically connected with the controller. Wherein, the power output end of the second decelerator 2231 is provided with a winding driving gear 2232, the winding wheel 222 is provided with a winding wheel gear 2221 matched with the winding driving gear 2232, after the winding wheel gear 2221 is assembled and the winding wheel 222 is mounted on the winding support 221, the protective shell 2222 is covered on the winding wheel gear 2221 for protection, then the end of the connecting rope 21 is fixedly connected to the winding wheel 222, the protective shell 2222 is connected with the wire guide wheel 2223, and the connecting rope 21 is wound on the wire guide wheel 2223 in a crossing manner. Preferably, the winding driving gear 2232 is assembled by using a flywheel having a unidirectional rotation direction. In this way, after the controller controls the winding motor 223 to start working and output power to the second speed reducer 2231, the second speed reducer 2231 drives the winding driving gear 2232 to rotate, so as to drive the winding wheel gear 2221 to rotate and make the winding wheel 222 rotate to wind the connecting rope 21, since the climbing support 10 is fixed on the cable 100 by the clasping piece 142 at this time, the follow-up detection portion 30 is pulled to move along the cable 100 under the traction of the connecting rope 21.

In the present embodiment, as shown in fig. 1 to 4, the number of the guide wheel assemblies 32 is two, the two guide wheel assemblies 32 are arranged in central symmetry with respect to the center point of the accommodating space, and a plurality of auxiliary guide wheels 324, 8 in the present embodiment, are provided at the inner wall of the accommodating space of the mounting frame body 31, and are distributed into the upper end 4 and the lower end 4, and the upper end 4 auxiliary guide wheels 324 are uniformly distributed around four points, and the lower end 4 auxiliary guide wheels 324 are uniformly distributed around four points, and after the cable 100 is located in the accommodating space, the wheel surface of each auxiliary guide wheel 324 abuts against the surface of the cable 100 to assist in guiding. Specifically, as shown in fig. 12, idler assembly 32 includes an idler bracket 321, a compression spring 322, and an idler 323. The idler bracket 321 is rotatably connected to the mounting frame 31, the compression spring 322 is assembled between the idler bracket 321 and the mounting frame 31, the idler 323 is rotatably mounted to the idler bracket 321, and the compression spring 322 provides the idler bracket 321 with an elastic force that presses the idler 323 against the cable 100. When the cable 100 is located in the accommodating space, the guide wheel 323 presses against the cable 100 and compresses the compression spring 322, and the guide wheel 323 presses against the cable 100 under the elastic restoring force of the compression spring 322.

As shown in fig. 13 and 14, the clasping mechanism 33 includes a clasping mounting bracket 336, a clasping motor 331, a clasping transmission belt 332, a clasping transmission rod 333, a clasping sole 335, and two clasping arms 334. Embrace and press from both sides mounting bracket 336 fixed connection in the installation framework 31, then will embrace and press from both sides motor 331 fixed mounting in embracing on pressing from both sides mounting bracket 336, embrace and press from both sides motor 331 and be connected with the controller electricity, it rotationally connects in embracing and presss from both sides mounting bracket 336 to embrace clamp transfer line 333, the power take off end that presss from both sides motor 331 and embrace and press from both sides transfer line 333 and press from both sides the transmission through embracing transmission belt 332 transmission and be connected, the both ends of embracing and pressing from both sides transfer line 333 all are equipped with transmission screw thread 3330, two first ends of embracing arm lock 334 all rotationally connect in embracing and press from both sides mounting bracket 336, and two first ends of embracing arm lock 334 all are equipped with.

After the follow-up detection part 30 is pulled to move along the cable 100 to a predetermined position, the controller controls the clamp motor 331 to start working, so as to drive the clamp transmission rod 333 to rotate, the clamp transmission rod 333 drives the clamp arm 334 to rotate through the transmission thread 3330, so as to enable the clamp foot 335 to clamp the cable 100, and thus the follow-up detection part 30 is integrally fixed on the cable 100. In this embodiment, two sets of clasping mechanisms 33 are provided in the follow-up detection unit 30, one set is attached to the upper end of the attachment frame 31, the clasping mechanism 33 is disposed so as to oppose one guide wheel assembly 32 located at the upper end of the attachment frame 31, and one set is attached to the lower end of the attachment frame 31, the clasping mechanism 33 is disposed so as to oppose one guide wheel assembly 32 located at the lower end of the attachment frame 31. After the controller controls the clasping motor 331 to drive the clasping foot 335 to clasp the cable 100, the controller controls the winding motor 223 to stop working.

After the connecting rope 21 is completely wound on the winding wheel 222 (at this time, the follow-up detection portion 30 is close to the climbing support portion 10, but the two do not contact or collide with each other), if it is necessary to let the robot climb relative to the cable 100, the controller controls the climbing support portion 10 to climb to the predetermined position again along the cable 100 and then fix the climbing support portion as a support point, in the climbing process of the climbing support portion 10, since the winding driving gear 2232 selects a flywheel with a unidirectional rotation direction for assembly, the connecting rope 21 can be conveniently pulled out from the winding wheel 222 (at this time, the follow-up detection portion 30 is still fixed on the cable 100), then the controller controls the clasping mechanism 33 to release the cable 100, then the controller controls the winding motor 223 to work to pull the follow-up detection portion 30 to continuously climb to the predetermined position, and finally the controller controls the clasping mechanism 33 to clasp the cable 100.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A split type cable climbing detection robot is characterized by comprising:

climbing support (10), climbing support (10) includes frame (11), climbing running gear (12), follow-up pretension mechanism (13), initiative enclasping mechanism (14), first driving motor (15) and second driving motor (16), climbing running gear (12) is including climbing mounting bracket (121) and climbing wheelset (122), climbing mounting bracket (121) is fixed in frame (11), climbing wheelset (122) connect in climbing mounting bracket (121), follow-up pretension mechanism (13) is including first drive assembly (131) and follow-up roller subassembly (132), first drive assembly (131) connect in frame (11), follow-up roller subassembly (132) connect in frame (11), first drive assembly (131) with the transmission is connected between follow-up roller subassembly (132), the active clasping mechanism (14) comprises a second transmission component (141) and a clasping clamp piece (142), the second transmission assembly (141) is connected to the frame (11), the second transmission assembly (141) is rotatably connected with the clamping piece (142), the first drive motor (15) is fixed to the climbing mounting frame (121), the second drive motor (16) is assembled on the frame (11), the power output end of the first driving motor (15) is in driving connection with the climbing wheel set (122), the power output end of the second driving motor (16) is respectively in driving connection with the first transmission component (131) and the second transmission component (141), the movement direction of the first transmission assembly (131) driving the follow-up roller assembly (132) is opposite to the movement direction of the second transmission assembly (141) driving the clamping piece (142);

the wire driving part (20), the wire driving part (20) comprises a connecting rope (21) and a winding driving mechanism (22), the first end of the connecting rope (21) is fixedly connected to the clamping piece (142), and the second end of the connecting rope (21) is fixedly connected to the winding driving mechanism (22);

the follow-up detection part (30) comprises an installation frame body (31), a guide wheel assembly (32) and a clamping mechanism (33), the rolling driving mechanism (22), the guide wheel assembly (32) and the clamping mechanism (33) are fixedly assembled on the installation frame body (31), and the installation frame body (31) forms an accommodating space for accommodating a cable (100);

the controller is used for respectively controlling the first driving motor (15), the second driving motor (16), the rolling driving mechanism (22) and the clamping mechanism (33).

2. The split cable climbing detection robot according to claim 1, wherein the climbing wheel set (122) comprises a driving wheel (1221), a guide wheel (1222), and a plurality of auxiliary wheels (1223), the driving wheel (1221) and the guide wheel (1222) are both rotatably connected to the climbing mount (121), a power output end of the first driving motor (15) is drivingly connected to the driving wheel (1221), the plurality of auxiliary wheels (1223) are rotatably connected to the climbing mount (121) and are located between the driving wheel (1221) and the guide wheel (1222), and the driving wheel (1221) and the plurality of auxiliary wheels (1223) are drivingly connected by a climbing belt (1224).

3. The split cable climbing detection robot according to claim 2, wherein the first transmission assembly (131) comprises a first transmission shaft (1311), two first transmission arms (1312) and a spring (1313), the first transmission shaft (1311) is rotatably mounted on the frame (11), the first transmission shaft (1311) is in driving connection with a power output end of the second driving motor (16), the two first transmission arms (1312) are rotatably mounted on the frame (11) and the two first transmission arms (1312) correspond to two shaft end portions of the first transmission shaft (1311) respectively, two shaft ends of the first transmission shaft (1311) are in transmission connection with the corresponding first transmission arms (1312), each first transmission arm (1312) is provided with an elastic piece (1313), and the first connection end (13131) of the resilient member (1313) is fixedly fitted on the first transmission arm (1312);

the follow-up roller assembly (132) comprises two roller mounting frames (1321) and a plurality of follow-up rollers (1322), the two roller mounting frames (1321) are respectively and correspondingly mounted on the two first transmission arms (1312), the second connecting end (13132) of the elastic member (1313) is fixedly assembled on the roller mounting frames (1321), and the plurality of follow-up rollers (1322) are rotatably mounted on the roller mounting frames (1321).

4. The split type cable climbing detection robot as claimed in claim 3, wherein the second transmission assembly (141) comprises a second transmission shaft (1411) and two second transmission arms (1412), the second transmission shaft (1411) is rotatably mounted to the frame (11), the second transmission shaft (1411) is in driving connection with the power output end of the second driving motor (16), the two second transmission arms (1412) are rotatably mounted to the frame (11) and the two second transmission arms (1412) respectively correspond to two shaft ends of the second transmission shaft (1411), the two shaft ends of the second transmission shaft (1411) are respectively in driving connection with the corresponding second transmission arms (1412), and the clasping member (142) is rotatably connected to each of the second transmission arms (1412).

5. The split type cable climbing detection robot as claimed in claim 4, wherein the first transmission screw (13110) is provided on both shaft ends of the first transmission shaft (1311), and the first transmission worm gear (13120) engaged with the first transmission screw (13110) is fixedly connected to the first transmission arm (1312);

two shaft ends of the second transmission shaft (1411) are provided with second transmission threads (14110), and the second transmission arm (1412) is fixedly connected with a second transmission worm wheel (14120) matched with the second transmission threads (14110);

wherein the direction of rotation of the first drive screw (13110) is opposite to the direction of rotation of the second drive screw (14110).

6. The split type cable climbing detection robot as claimed in claim 5, characterized in that the first transmission shaft (1311) is in transmission connection with the power output end of the second driving motor (16) through a first transmission belt (41), and the second transmission shaft (1411) is in transmission connection with the power output end of the second driving motor (16) through a second transmission belt (42).

7. The split cable climbing detection robot according to any one of claims 1 to 6, wherein the winding driving mechanism (22) comprises a winding support (221), a winding wheel (222) and a winding motor (223), the winding support (221) is fixedly mounted on the mounting frame (31), the winding wheel (222) is rotatably mounted on the winding support (221), the winding motor (223) is fixedly mounted on the winding support (221), a power output end of the winding motor (223) is in driving connection with the winding wheel (222), and the winding motor (223) is electrically connected with a controller.

8. The split cable climbing detection robot according to claim 7, wherein the number of the guide wheel assemblies (32) is two, and the two guide wheel assemblies (32) are arranged in central symmetry with respect to a central point of the accommodating space.

9. The split type cable climbing detection robot according to claim 8, wherein the guide wheel assembly (32) comprises a guide wheel bracket (321), a compression spring (322) and a guide wheel (323), the guide wheel bracket (321) is rotatably connected to the mounting frame (31), the compression spring (322) is assembled between the guide wheel bracket (321) and the mounting frame (31), the guide wheel (323) is rotatably mounted to the guide wheel bracket (321), and the compression spring (322) provides the guide wheel bracket (321) with an elastic force that presses the guide wheel (323) against the cable (100).

10. The split cable climbing detection robot according to claim 9, wherein the clasping mechanism (33) comprises a clasping motor (331), a clasping transmission belt (332), a clasping transmission rod (333), a clasping palm (335), and two clasping arms (334), the clasping motor (331) is fixedly mounted on the mounting frame (31), the clasping motor (331) is electrically connected to the controller, the clasping transmission rod (333) is rotatably connected to the mounting frame (31), a power output end of the clasping motor (331) is in transmission connection with the clasping transmission rod (333) through the clasping transmission belt (332), two ends of the clasping transmission rod (333) are respectively provided with a transmission screw (3330), first ends of the two clasping arms (334) are respectively rotatably connected to the mounting frame (31), and first ends of the two clasping arms (334) are respectively provided with a transmission worm gear engaged with the transmission screw, the two clamping foot palms (335) are respectively connected with the second ends of the two clamping arms (334).

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