CN218562081U - Cable climbing machine - Google Patents

Abstract

The embodiment of the application provides a cable climbing machine for provide one kind possess high speed and high load capacity's cable climbing machine simultaneously, include: the system comprises a load maintenance robot, N anchoring traction robots, N windlasses and N groups of traction ropes; the cable climbing machine takes a load maintenance robot as a core and N anchoring traction robots as branches to form a star topology. And the load overhaul robot and the anchoring traction robot are connected by using a traction rope, and the traction rope is reeled up and down by using a winch. The anchoring traction robot can move on the cable and is anchored at a preset position, an N-shaped overhauling area is formed for a vertex by the N anchoring traction robots, and the load overhauling robot moves in the N-shaped overhauling area under the pulling of the traction rope to complete detection and maintenance.

Description

Cable climbing machine

Technical Field

The embodiment of the application relates to the cable maintenance field, concretely relates to cable climbing machine.

Background

The cable of the large-span cable bridge comprises a cable of a cable-stayed bridge, a main cable of a suspension bridge and a suspension cable. The cable is generally cylindrical, the diameter of the guy cable and the suspension cable is 50-230mm, the installation angle of the guy cable and the suspension cable relative to the horizontal plane is inclined from 30 degrees to 90 degrees and is completely vertical, and the surface of the cable is provided with a spiral rain line, a pit or other attachments with the diameter of 3-5 mm.

In order to detect apparent damage and maintain local cables such as a guy cable and a suspension cable, a multi-side clamping wheel type climbing machine is generally adopted at present, the contact mode of a driving wheel and the cylindrical surface of the guy cable is point/line contact, and the contact area is small, so that the multi-side clamping wheel type climbing machine is easy to slip and spin in the climbing process, and enough friction force is difficult to generate to support load. Therefore, the multi-side pinch-wheel climbing machine is mainly used for carrying a camera group to quickly acquire an apparent image of a cable, and is difficult to carry an actuating mechanism such as a magnetic flux leakage testing (MFL) sensor for detecting the breakage of a steel wire in the cable with the weight of more than 40kg or a special repairing tool with the weight of more than 15 kg. Particularly, when the load is increased, the wheels need to apply larger pressing force on the surface of the cable, and the polyethylene PE protective layer of the cable is easy to damage. The multi-side clamping wheel type climbing machine realizes high speed, but has low load.

For avoiding the damage that the high load caused for the cable, current climbing machine adopts palm centre gripping formula machine, through the large tracts of land contact of face and cable, provides big load capacity and protection cable surface, and the telescopic climbing machine of rethread hydraulic drive realizes climbing machine body climbing motion. However, the climbing machine body is hundreds of kilograms in weight, the climbing speed is slow, and the operation efficiency on the cable is low. Palm grip machines achieve high loads but at low speeds.

It can be seen that the cable climbing machines of the prior art are not capable of achieving both high speed and high load, and therefore there is a need to develop a cable climbing machine having high load capacity, while climbing at the same time.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a cable climbing machine, which is used for providing the cable climbing machine with high speed and high load capacity.

A first aspect of embodiments of the present application provides a cable climbing machine, including: the system comprises a load overhaul robot, N anchoring traction robots, N windlasses and N groups of traction ropes, wherein N is more than 2;

the load overhaul robot and each anchoring traction robot are respectively connected through a group of traction ropes; the N winches are arranged on the load overhaul robot and/or the N anchoring traction robots, and each winch is used for reeling or unreeling a group of traction ropes so as to change the relative positions of the load overhaul robot and the N anchoring traction robots;

the anchoring traction robot comprises a driving module and a first clamping module, wherein the driving module is used for driving the anchoring traction robot to move to a preset position of a cable, and the first clamping module is used for fixing the anchoring traction robot at the preset position of the cable;

when N anchor pulling robot fixes respectively in the different preset position of many cables, form N polygon maintenance region for the summit with N anchor pulling robot, N hoist engine is through rolling up and releasing or the rolling up N group traction rope, and the position of load maintenance robot in N polygon maintenance region is controlled to make load maintenance robot overhaul the cable in N polygon maintenance region.

In an implementation manner of the embodiment of the application, the N anchoring traction robots are divided into two groups of anchoring traction robots, and the two groups of anchoring traction robots move along a cable respectively.

In one implementation manner of the embodiment of the application, the winch comprises a winch motor, a reel, a wire inlet and outlet structure, an adjusting motor, a transmission part, a bidirectional screw and an adjusting nut;

the output end of the winding motor is connected with the reel, and the reel rotates to wind or unwind the traction rope;

the output end of the adjusting motor is connected with the input end of the transmission piece, and the output end of the transmission piece is connected with the bidirectional screw rod;

the adjusting nut is matched with the bidirectional screw rod, when the bidirectional screw rod rotates along the same direction, the adjusting nut reciprocates along the axis of the bidirectional screw rod, a preset distance is reserved between two reciprocating ends, and the preset distance is smaller than or equal to the axial thickness of the reel;

the first end of the wire inlet and outlet structure is fixedly connected with an adjusting nut, and a traction rope penetrates through the wire inlet and outlet structure.

In an implementation manner of the embodiment of the application, the winch further comprises a sliding block and a guide rail;

the guide rail and the two-way screw rod parallel arrangement, the second end fixed connection slider of business turn over line mouth structure, the slider can slide along the guide rail to make business turn over line mouth structure can move between guide rail and two-way screw rod.

In an implementation manner of the embodiment of the application, the hoisting motor and the adjusting motor are the same motor.

In an implementation manner of the embodiment of the application, the load overhauling robot further comprises a second clamping module;

the second clamping module is used for anchoring the load service robot to the cable.

In one implementation manner of the embodiment of the application, the first clamping module or the second clamping module comprises a claw holding pair and a worm gear;

two groups of holding claws of one holding claw pair are driven by two groups of worm gears and worms to be opened and closed, worm gears of the two groups of worm gears and worms are fixed at the roots of the holding claws, and the worms of the two groups of worm gears and worms are connected by the same shaft.

In one implementation of the embodiments of the present application, a drive module of an anchoring traction robot includes a plurality of rotor mechanisms;

a plurality of rotor mechanisms use first centre gripping module as central circumference evenly distributed, or use the axis of embracing the claw pair as axisymmetrical distribution.

In one implementation manner of the embodiment of the application, the driving module of the anchoring traction robot further comprises a rolling ball-shaped shell;

the rotor wing mechanism is arranged in the rolling ball-shaped shell, and the rolling ball-shaped shell is of a hollow structure.

In an implementation manner of the embodiment of the application, the load overhauling robot further comprises a telescopic arm;

the second clamping module is installed at the tail end of the telescopic arm.

According to the technical scheme, the embodiment of the application has the following advantages:

in the embodiment of the application, the cable climbing machine takes a load maintenance robot as a core and N anchoring traction robots as branches to form a star topology. And the load overhaul robot and the anchoring traction robot are connected by using a traction rope, and the traction rope is reeled up and down by using a winch. The anchoring traction robot can move on the cable and is anchored at a preset position, an N-shaped overhauling area is formed for a vertex by the N anchoring traction robots, and the load overhauling robot moves in the N-shaped overhauling area under the pulling of the traction rope to complete detection and maintenance. Due to the fact that the N anchoring traction robots are used, the cable climbing robot has high load capacity; because the traction rope and the winch are used for realizing rope driving, the load maintenance robot can move quickly, and the operation efficiency is higher.

Drawings

Figure 1 is a schematic view of the operating condition of the cable climbing machine of the present application embodiment;

FIG. 2 is another schematic illustration of an operating condition of the cable climbing machine of the present application;

figure 3 is a perspective view of a hoist of the cable climbing machine of an embodiment of the present application;

figure 4 is a perspective view of a palm foot clamp module of the cable climbing machine of an embodiment of the present application;

FIG. 5 is a perspective view of an anchor tow robot of the cable climbing machine of an embodiment of the present application;

figure 6 is a perspective view of a load service robot of the cable climbing machine of an embodiment of the present application;

FIG. 7 is another schematic illustration of an operating condition of the cable climbing machine of the present application embodiment;

reference numerals:

1-a load maintenance robot;

2-anchoring the traction robot; 201-a first anchoring traction robot; 202-a second anchor traction robot; 203-a third anchor traction robot; 204-a fourth anchor traction robot;

3-a cable;

4-a traction rope;

5-a winch; 501-reel; 502-incoming and outgoing port structure; 503-synchronous belt; 504-a two-way screw; 505-adjusting nuts; 506-a hoisting motor; 507-a slide block; 508-a guide rail;

6-clamping the module; 601-holding the claw; 602-a flexible facing material; 603-worm and gear; 604-synchronous belt; 605-holding the driving motor tightly; 606-a reducer;

7-a rope traction module; 8-a driving module; 9-a vision module; 10-telescopic arm.

Detailed Description

The terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the foregoing drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be implemented in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The key stressed member of the guy cable bridge is a cable 3 which comprises a stay cable, a main cable and a suspension cable, generally consists of a plurality of groups of parallel steel wires or steel stranded ropes, and the surface of the cable is covered with a protective layer. According to statistics, the actual service life of the bridge cable 3 in China is generally lower than the designed 30-year service life. One of the reasons for the internal fracture and damage of the cable 3 is that the surface damage of the protective layer of the PE cable 3 causes rainwater to infiltrate into the cable 3 to corrode steel wires due to mechanical damage, aging and the like, and the internal steel wire bundles are rubbed and abraded mutually due to wind vibration and rain vibration to accelerate the wire breakage.

The damage and the repair of 3 protective layers of bridge cable in time discover, will reduce rainwater infiltration by a wide margin, effectively prolong 3 life-span of cable, reduce 3 change frequencies of cable. At present, the maintenance and overhaul of the bridge cable 3 are mainly carried out manually, and most of the bridge cable 3 is provided with a hanging basket for carrying detection personnel to move along the inhaul cable for inspection. The surface of the cable 3 is generally provided with a protruded spiral water guide line, and the hanging basket trolley is easy to cause secondary damage to the protective layer of the cable 3. Some units adopt a hydraulic lifting platform to carry workers and equipment for maintenance, workers need to do work at the height of hundreds of meters, the environment is severe, the workload is large, the efficiency is low, potential safety hazards exist, and traffic can be blocked. Also there is the unit to adopt unmanned aerial vehicle to patrol and examine the mode, but can only carry out remote shooting and outward appearance coarse detection to 3 surface defects of cable, can not carry out the essence to the cable surface and examine and repair, and have detection blind area, satellite positioning signal interference scheduling problem, require high to control personnel.

In bridge safety supervision and operation and maintenance level aspect, to cable-stay bridge as an example, current suspension cable inspection robot detection efficiency is low, and load capacity is little, can not stride across the great barrier in cable surface, consequently, the intelligent robot equipment that development can be on-line independently scrambleed, detected and maintained on the overlength suspension cable of large-span bridge is the major topic that the bridge management and maintenance trade awaits the solution urgently, has important academic value and innovation space. The application of the bridge cable 3 overhauling robot can greatly reduce the operation risk of workers, improve the bridge operation and inspection efficiency and quality, reduce the management and maintenance cost, and has important significance in long-term monitoring, disease prevention and maintenance treatment of the working state of the bridge inhaul cable.

Aiming at the requirements of detecting and maintaining diseases and damages of an ultra-long stay cable of a large-span cable bridge, a bionic climbing type bridge cable 3 maintenance robot system which has independent intellectual property rights and has the characteristics of high speed, high load, high reliability, full-coverage detection, independent local repair and the like is developed, and the problem of independent detection and maintenance of the ultra-long stay cable is solved. Bridge maintenance personnel can climb and independently hinder more at bridge floor remote control robot on cable 3, and the robot carries check out the observation to bridge cable surface and inside, passes the observation data back and controls the backstage and carry out the analysis aassessment. Simultaneously, the robot should still can carry cable 3PE protective layer repair specialized tool, carries out local maintenance to cable 3 to realize high-efficient preliminary examination, damage assessment and local maintenance of bridge cable 3 and wait integrated operation service, become the convenient instrument in bridge inspection field, improve efficiency, the degree of accuracy and the security of long-span bridge cable maintenance work.

As shown in fig. 1-2, embodiments of the present application provide a cable climbing machine, comprising: the system comprises a load overhaul robot 1, N anchoring traction robots 2, N windlasses 5 and N groups of traction ropes 4, N >; n may be 3, 4, 5, 6, etc., and N =4 will be described as an example.

The load overhaul robot 1 and each anchoring traction robot 2 are respectively connected through a group of traction ropes 4. The set of traction ropes 4 may be one traction rope 4 or a plurality of traction ropes 4 cooperating with each other, and the example where the set of traction ropes 4 is one traction rope 4 is described here.

The N winches 5 are arranged on the load overhaul robot 1 and/or the N anchoring traction robots 2, and each winch 5 is used for reeling or unreeling a group of traction ropes 4 respectively so as to change the relative positions of the load overhaul robot 1 and the N anchoring traction robots 2. The N winches 5 may be all installed in the load overhaul robot 1; or can be respectively arranged on each anchoring traction robot 2; it is also possible that some are mounted on the load service robot 1 and another part on the anchoring traction robot 2. The controllers of the plurality of winches 5 communicate with each other, or the plurality of winches 5 are controlled by the same controller, and the relative positions of the load overhaul robot 1 and the N anchoring traction robots 2 are accurately controlled.

The anchor traction robot 2 comprises a driving module 8 and a clamping module 6 (for the convenience of distinguishing from other clamping modules 6, it can be called as a first clamping module 6), wherein the driving module 8 is used for driving the anchor traction robot 2 to move to a preset position of the cable 3, and the first clamping module 6 is used for fixing the anchor traction robot 2 at the preset position of the cable 3. The driving module 8 is fixedly connected with the first clamping module 6. The drive module 8 provides power to enable the anchor towing robot 2 to reach a preset position of the cable 3. After the anchoring and traction robot 2 reaches the preset position of the cable 3, the first clamping module 6 clamps the cable 3 so that the anchoring and traction robot 2 is fixed at the preset position of the cable 3. When it is desired to change to the next preset position, the first clamping module 6 releases the cable 3 and the drive module 8 provides power to move the anchoring traction robot 2 to the next preset position.

When N anchor traction robot 2 is fixed respectively in the different preset position of many cables 3, use N anchor traction robot 2 to form N limit for shape maintenance region for the summit, N hoist engine 5 is through rolling up and unreeling or roll up N group traction rope 4, control load and overhaul the position of robot 1 in N limit for shape maintenance region to make load overhaul robot 1 overhaul cable 3 in the N limit for shape maintenance region. The N anchoring traction robots 2 are fixed at N preset positions. The N preset positions belong to more than two cables 3. With the anchoring traction robot 2 or the preset position as a vertex, an N-sided maintenance area is formed. Under the unwinding or the winding of the N winches 5, the length of the paid-out traction rope 4 is changed, so that the position of the load service robot 1 is changed. By controlling the length of the N traction ropes 4 paid out, the load servicing robot 1 can be accurately scheduled and positioned such that the load servicing robot 1 moves along one cable 3 or from one cable 3 to another cable 3 within the N-sided polygonal service area.

In the embodiment of the application, the cable climbing machine takes a load maintenance robot 1 as a core, and N anchoring traction robots 2 as branches to form a star topology. A traction rope 4 is connected between the load service robot 1 and the anchoring traction robot 2, and the traction rope 4 is reeled out and reeled in by a winch 5. The anchoring traction robot 2 can move on the cable 3 and is anchored at a preset position, an N-shaped overhauling area is formed by taking N anchoring traction robots 2 as vertexes, and the load overhauling robot 1 moves in the N-shaped overhauling area under the pulling of the traction rope 4 to complete detection and maintenance. Due to the fact that the N anchoring traction robots 2 are used, the cable climbing robot has high load capacity; due to the fact that the traction rope 4 and the winch 5 are used for achieving rope driving, the load overhauling robot 1 can move fast, and operation efficiency is high.

In an implementation manner of the embodiment of the present application, N anchoring traction robots 2 are divided into two groups of anchoring traction robots 2, and the two groups of anchoring traction robots 2 move along one cable 3 respectively. Different sets of anchoring traction robots 2 move along different cables 3. The two cables 3 on which the two groups of anchoring traction robots 2 are arranged can be adjacent or not adjacent.

In one implementation manner of the embodiment of the present application, the winding machine 5 includes a winding motor 506, a reel 501, a wire inlet/outlet structure 502, an adjusting motor, a transmission member, a bidirectional screw 504, and an adjusting nut 505;

the output end of the winding motor 506 is connected to the reel 501, and the reel 501 rotates to wind or unwind the traction rope 4. The winding motor 506 provides power to rotate the reel 501 to wind or unwind the traction rope 4.

The output end of the adjusting motor is connected with the input end of the transmission member, and the output end of the transmission member is connected with the bidirectional screw rod 504. The bi-directional screw 504 is often called a reciprocating screw shaft, a horizontal screw shaft, a reciprocating screw, a bi-directional screw shaft, a self-reversing screw, etc., and the bi-directional screw 504 can be used for cable-laying devices of various winches, and can also be used for tube-laying devices of various water wheels and various coiled tubing operation vehicles. The cable and tubing racker with bi-directional threaded rod 504 can wind cables, hoses and coiled tubing evenly and orderly onto reel 501, thereby improving the state of the art of the equipment. The use of the bidirectional screw 504 can reduce damage to the traction rope 4 and extend the service life of the traction rope 4.

The adjusting nut 505 is matched with the bidirectional screw 504, when the bidirectional screw 504 rotates along the same direction, the adjusting nut 505 reciprocates along the axis of the bidirectional screw 504, a preset distance is reserved between two reciprocating ends, and the preset distance is smaller than or equal to the axial thickness of the reel 501. The predetermined distance is less than or equal to the axial thickness of the spool 501, avoiding that the traction rope 4 cannot be taken up by the spool 501.

The first end of the cable inlet/outlet structure 502 is fixedly connected with an adjusting nut 505, and the traction rope 4 passes through the cable inlet/outlet structure 502. The pull cord 4 passes through the entrance and exit structure 502, so that the entrance and exit structure 502 can drive the pull cord 4 to move along the bidirectional screw 504 along with the adjusting nut 505.

In an implementation manner of the embodiment of the present application, the winch 5 further includes a sliding block 507 and a guide rail 508;

the guide rail 508 is disposed parallel to the bi-directional screw 504, and the second end of the entrance/exit structure 502 is fixedly connected to the slider 507, and the slider 507 can slide along the guide rail 508, so that the entrance/exit structure 502 can move between the guide rail 508 and the bi-directional screw 504. The bidirectional screw 504, in cooperation with the slider 507 and the guide rail 508, can produce a precise reciprocating motion, so that the traction rope 4 is wound around the spool 501 more uniformly.

In an implementation manner of the embodiment of the present application, the hoisting motor 506 and the adjusting motor are the same motor. The input end of the transmission member and the reel 501 are connected to the output end of one motor at the same time, and the transmission ratio of the transmission member is set, so that one motor can be used as the winding motor 506 and the adjusting motor at the same time.

As shown in fig. 3, the winding machine 5 is composed of a winding motor 506, a reel 501, a timing belt 503, a bidirectional screw 504, and the like. The winding motor 506 transmits power to the reel 501, the reel 501 rotates to wind and unwind the traction rope 4, and meanwhile, the traction rope 4 is led out or led in through the wire inlet and outlet structure 502. Meanwhile, the hoisting motor 506 synchronously transmits power to the synchronous belt 503 speed reducing mechanism and drives the bidirectional screw 504 to rotate. The bi-directional screw 504 in turn drives the inlet/outlet structure 502 to swing back and forth. By this design the rope can be evenly arranged on the reel 501 without local twisting.

In one implementation manner of the embodiment of the present application, the load service robot 1 further includes a clamping module 6 (for convenience of distinguishing from the clamping module 6 installed in the anchoring robot, the clamping module 6 installed in the load service robot 1 may be referred to as a second clamping module 6);

the second clamping module 6 is used for anchoring the load servicing robot 1 to the cable 3. The second clamping module 6 is capable of clamping the cable 3 such that the load servicing robot 1 is secured to the cable 3. When the load service robot 1 needs a careful inspection or maintenance of a specific position of the cable 3, the second clamping module 6 clamps the cable 3 in order to avoid shaking caused by the positioning of the traction rope 4 only.

In one implementation manner of the embodiment of the present application, the first clamping module 6 or the second clamping module 6 includes a pair of clasps and a worm gear 603;

two groups of holding claws 601 of one holding claw pair are driven by two groups of worm gears 603 to open and close, worm wheels of the two groups of worm gears 603 are fixed at the roots of the holding claws 601, and worms of the two groups of worm gears 603 are connected by the same shaft. The input end of the worm is connected with the output end of the motor. The worms of the two worm and gear sets 603 are connected by the same shaft, so that the two clasping claws 601 of one clasping claw pair can be synchronously opened and closed. The surface of the holding claw 601 can be wrapped with a flexible covering material 602 to avoid damaging the cable 3.

As shown in fig. 4, the first grip module 6 and the second grip module 6 are each a palmar grip module 6. The palm foot clamping module 6 mainly comprises a holding claw pair, a holding driving motor 605 and two groups of symmetrical transmission systems. The clasper pair comprises two sets of claspers 601, and each set of claspers 601 comprises one clasper 601. In order to increase the friction force when the clasping claws grip the surface of the cable 3, the surface of the clasping claws 601 contacting the cable 3 is covered with a flexible covering material 602. The transmission system adopts a three-stage transmission mechanism to transmit the energy and force of the output end of the holding driving motor 605, namely, the planetary transmission of a speed reducer 606, the transmission of a synchronous belt 604 and the transmission of a worm gear 603. The output end of the holding driving motor 605 is connected with the input end of a speed reducer 606 planetary transmission device, and the output end of the speed reducer 606 planetary transmission device is connected with the input end of a worm gear 603 transmission device through a synchronous belt 604. The worm gear 603 drive is used in the final stage of the drive joint. Because of the self-locking characteristic of the worm gear and worm transmission device, the holding claw pair cannot be back driven. This means that the claw pair can maintain the position of the joint without change when the holding drive motor 605 is not driven. This design has considerable advantages in terms of energy saving, in particular when the robot is held in a certain position, the clasping drive motor 605 can be taken out of operation reducing energy consumption, while the robot itself can still be safely anchored to the cable 3. The use of the palm-foot clamping module 6 enables the load overhaul robot 1 to carry extra-large quality overhaul equipment.

In one implementation of the embodiment of the present application, the driving module 8 of the anchoring traction robot 2 includes a plurality of rotor mechanisms;

the plurality of rotor wing mechanisms are uniformly distributed on the circumference by taking the first clamping module 6 as the center, namely the plurality of rotor wing mechanisms are distributed at the vertex of a regular polygon, and the first clamping module 6 is positioned at the center of a circumscribed circle of the regular polygon; or the axes of the holding claw pairs are distributed in an axisymmetric mode, and when the holding claw pairs clamp the cable 3, the axes of the holding claw pairs are parallel to or coincident with the axis of the cable 3.

In an implementation manner of the embodiment of the present application, the driving module 8 of the anchoring traction robot 2 further includes a rolling ball shaped housing;

the rotor mechanism sets up in spin shape shell, and spin shape shell is hollow out construction. Spin shape shell can play the effect of protection rotor mechanism, avoids rotor mechanism and collision such as cable 3.

In an implementation manner of the embodiment of the application, the load overhaul robot 1 further includes a telescopic arm 10;

the second clamping module 6 is mounted at the end of a telescopic arm 10. The second clamping module 6 can extend or retract along with the telescopic arm 10, and when the load overhaul robot 1 needs to move in the N-edge overhaul area, the telescopic arm 10 retracts; when the load service robot 1 needs to be fixed in a specific position for inspection or maintenance, the telescopic arm 10 is extended so that the second grip module 6 grips the cable 3.

For better understanding of the structure of the cable climbing machine, taking N =4 as an example, the cable climbing machine of the embodiment of the present application is movable, using parallel rope drives. The cable climbing machine consists of three parts: the system comprises a load overhaul robot 1 carrying overhaul equipment, four anchoring traction robots 2 and a traction guide system between the load overhaul robot 1 and the anchoring traction robots 2. The traction guide system comprises a traction rope 4 and a hoist 5, and the traction rope 4 can be a steel wire rope. The anchoring traction robot 2 carries a first clamping module 6 with high load, and the anchoring traction robot 2 can move to a designated position and is self-locked to form an anchoring point. The load servicing robot 1 carrying the servicing equipment is also provided with a second gripping module 6 of high load. The first grip module 6 and the second grip module 6 may be a palmar grip module 6.

The load overhaul robot 1 and the anchoring traction robot 2 are connected through steel wire ropes respectively. The four anchoring and traction robots 2 are respectively arranged on two cables 3 in pairs, 3-5 cables 3 are arranged between the two cables 3 at intervals, and one anchoring and traction robot 2 is released every 20-30 meters from each cable 3. Thus, when four anchoring traction robots 2 are anchored on the cable 3 at certain intervals, the four anchoring points can be arranged into a quadrangular overhaul area, and the working space of the load overhaul robot 1 can cover the quadrangular overhaul area through traction and lifting by a steel wire rope. The load maintenance robot 1 can rapidly scan and detect the cable 3 in the quadrilateral area, and find out possible damage to the cable 3. When the load overhaul robot 1 detects that a specific point has an abnormal fault, the load overhaul robot 1 can move to a corresponding position, then the second clamping module 6 carried by the load overhaul robot is used for tightly holding the cable 3, and then the cable 3 is further repaired. When the cable 3 maintenance work in the quadrangular maintenance area is completed, the four anchoring traction robots 2 release the first clamping modules 6 and move forward along the axial direction of the cable 3 to form a new quadrangular maintenance area. After the traction anchoring robot is anchored, the winch 5 pulls the load maintenance robot 1 to a new quadrilateral maintenance area for maintenance again. And the reciprocating operation is carried out until the top of the cable 3 of the cable-stayed bridge.

As shown in fig. 5, the anchoring traction robot 2 is mainly composed of a first clamping module 6, a vision module 9, a rope traction module 7, a driving module 8 and an unmanned aerial vehicle frame. Wherein the driving module 8 consists of a rolling ball-shaped shell, a paddle, a rotor motor, a motor base and the like. The rotor motor drives the blades to rotate at a high speed to generate lift force for driving the anchoring traction robot 2 to ascend. The paddle can be protected well to spin shape shell can not bump with external environment, and spin shape shell is hollow out construction, and great gap makes the air can the convection current to provide lift. Install first clamping module 6 directly over the unmanned aerial vehicle frame, it has yaw angle direction degree of freedom relative to the unmanned aerial vehicle frame to the position of adaptation cable 3 makes anchor traction robot 2 after hovering, can adjust 6 positions of first clamping module in order to hold tightly cable 3. The vision module 9 is used for guiding the anchoring traction robot 2 and the first clamping module 6 to reach an ideal position in the process that the first clamping module 6 holds the cable 3 tightly, so as to hold the cable 3 tightly. The rope traction module 7 comprises a pulley around which the traction ropes 4 are passed. Drive module 8 may also be referred to as rotor drive module 8. The roller ball shaped housing may also be referred to as a roller ball housing, roller ball housing. The anchor-towing mobile robot may also be referred to as a cable 3 anchor mobile robot. The vision module 9 may also be referred to as a visual perception module or a visual guidance module.

As shown in fig. 6, the load service robot 1 is composed of a second clamping module 6, a telescopic arm 10, a vision module 9, and a frame. The hoist 5 is fixedly installed at the load service robot 1. The load service robot 1 has no mobility by itself, and the mobility is realized by four winches 5 and four traction ropes 4 on the body of the load service robot. When the load overhaul robot 1 traverses a quadrilateral overhaul area formed by four anchoring traction robots 2, the vision module 9 performs synchronous rapid vision detection on the surface of a cable 3 in the area, when the load overhaul robot 1 finds that the surface of the cable 3 has defects, the telescopic arm 10 of the load overhaul robot 1 can be unfolded towards the direction of the cable 3, the cable 3 is tightly held by the second clamping module 6 carried by the telescopic arm 10, and the damaged area is subjected to further fine inspection and repair work. The telescopic arm 10 may also be referred to as a telescopic robotic arm. The load service robot 1 may also be referred to as a cable 3 service robot, a cable 3 load service robot 1, or a service robot.

The embodiment of the application completes the maintenance problem of the ultra-long cable 3 by forming multi-machine group cooperation. The movable parallel rope-driven robot is mainly characterized in that based on a traditional parallel rope-driven robot, an anchoring point of the robot is designed to be movable, and the detection range and the working space of the robot are greatly expanded. The characteristics of high load, low motion inertia, high expansibility and high fault tolerance of the parallel rope-driven robot are reserved. Because the maintenance robot can stride across many cables 3 simultaneously and overhaul work, and does not contact with cable 3 surface during its motion, the obstacle crossing ability and the maintenance efficiency of robot have obtained very big improvement.

In order to better understand the working process of the cable climbing machine, as shown in fig. 7, the motion mode actions of the cable climbing machine are analyzed as follows:

the first step is as follows: and (4) preparing for line feeding, wherein the first anchoring traction robot 201, the second anchoring traction robot 202, the third anchoring traction robot 203 and the fourth anchoring traction robot 204 respectively approach the cable 3. The first anchoring traction robot 201 is kept at a certain distance from the second anchoring traction robot 202; the third anchoring traction robot 203 keeps a certain distance from the fourth anchoring traction robot 204;

the second step: starting the clasping motors of the first clamping modules 6 of the first anchoring traction robot 201, the second anchoring traction robot 202, the third anchoring traction robot 203 and the fourth anchoring traction robot 204, and respectively anchoring the first anchoring traction robot 201, the second anchoring traction robot 202, the third anchoring traction robot 203 and the fourth anchoring traction robot 204 on the surface of the cable 3; the first, second, third and fourth anchor towing robots 201, 202, 203 and 204 can be automatically anchored after reaching a preset position of the cable 3 without manual installation onto the cable 3.

The third step: starting a hoisting motor 506 of a hoisting machine 5, and dragging the load maintenance robot 1 by four traction ropes 4 to traverse the surface of the cable 3 in the quadrilateral maintenance area for maintenance;

the fourth step: after the load overhauling robot 1 finishes overhauling, the telescopic arm 10 of the load overhauling robot 1 extends to drive the second clamping module 6 to the cable 3, and the holding driving motor 605 of the second clamping module 6 is started to enable the load overhauling robot 1 to be anchored on the cable 3;

the fifth step: starting the holding driving motors 605 of the first clamping modules 6 of the first, second, third and fourth anchoring traction robots 201, 202, 203 and 204, respectively disconnecting the first, second, third and fourth anchoring traction robots 201, 202, 203 and 204 from the cable 3, respectively, moving the cable one step toward the movement direction 1, and re-anchoring the cable 3; the direction of movement 1 is upward along the axis of the cable 3, the direction of movement 2 is downward perpendicular to the axis of the cable 3, and different cables 3 have different directions of movement 1 and 2.

And a sixth step: the second clamping module 6 of the load maintenance robot 1 is disconnected from the cable 3, the telescopic arm 10 retracts, the four traction ropes 4 pull the load maintenance robot 1 to move towards the movement direction 1, and the third step action is repeated;

the seventh step: when the first anchoring traction robot 201 and the third anchoring traction robot 203 reach the top of the cable-stayed bridge and the cable 3 in the quadrilateral overhaul region is overhauled, the first anchoring traction robot 201, the second anchoring traction robot 202, the third anchoring traction robot 203 and the fourth anchoring traction robot 204 move towards the movement direction 2 in a similar step, are anchored on a new cable 3, and then move towards the opposite direction of the movement direction 1 to overhaul. The reciprocating motion is circulated until the load overhaul robot 1 overhauls all the cables 3 of the bridge.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.

Claims (10)

1. A cable climbing machine, comprising: the system comprises a load maintenance robot (1), N anchoring traction robots (2), N windlasses (5) and N groups of traction ropes (4), wherein N is more than 2;

the load overhaul robot (1) and each anchoring traction robot (2) are respectively connected through a group of traction ropes (4); the N winches (5) are arranged on the load overhaul robot (1) and/or the N anchoring traction robots (2), and each winch (5) is used for reeling or unreeling a group of traction ropes (4) respectively so as to change the relative positions of the load overhaul robot (1) and the N anchoring traction robots (2);

the anchoring traction robot (2) comprises a driving module (8) and a first clamping module (6), wherein the driving module (8) is used for driving the anchoring traction robot (2) to move to a preset position of a cable (3), and the first clamping module (6) is used for fixing the anchoring traction robot (2) at the preset position of the cable (3);

when N anchor traction robot (2) are fixed in many respectively the difference of cable (3) when predetermineeing the position, with N anchor traction robot (2) form N limit for the edge shape maintenance area for the summit, N hoist engine (5) are through rolling up or roll up N group traction rope (4), control load maintenance robot (1) is in the position in N limit for the edge shape maintenance area, so that load maintenance robot (1) is right in the N limit for the edge shape maintenance area cable (3) overhaul.

2. Cable climbing machine according to claim 1, characterized in that the N anchoring traction robots (2) are divided into two groups of anchoring traction robots (2), the two groups of anchoring traction robots (2) moving along one cable (3) respectively.

3. Cable climbing machine according to claim 1, wherein the hoisting machine (5) comprises a hoisting motor (506), a reel (501), an entrance and exit structure (502), an adjustment motor, a transmission, a bidirectional screw (504) and an adjustment nut (505);

the output end of the hoisting motor (506) is connected with the reel (501), and the reel (501) rotates to wind or unwind the traction rope (4);

the output end of the adjusting motor is connected with the input end of the transmission piece, and the output end of the transmission piece is connected with the bidirectional screw (504);

the adjusting nut (505) is matched with the bidirectional screw (504), when the bidirectional screw (504) rotates along the same direction, the adjusting nut (505) reciprocates along the axis of the bidirectional screw (504), a preset distance is reserved between two reciprocating ends, and the preset distance is smaller than or equal to the axial thickness of the reel (501);

the first end of the wire inlet and outlet structure (502) is fixedly connected with the adjusting nut (505), and the traction rope (4) penetrates through the wire inlet and outlet structure (502).

4. A cable climbing machine according to claim 3, wherein the hoisting machine (5) further comprises a slide (507) and a guide rail (508);

the guide rail (508) is arranged in parallel with the bidirectional screw rod (504), the second end of the access line port structure (502) is fixedly connected with the sliding block (507), and the sliding block (507) can slide along the guide rail (508) so that the access line port structure (502) can move between the guide rail (508) and the bidirectional screw rod (504).

5. The cable climbing machine according to claim 3, wherein the hoisting motor (506) and the adjustment motor are the same motor.

6. Cable climbing machine according to claim 1, characterized in that the load servicing robot (1) further comprises a second clamping module (6);

the second clamping module (6) is used for anchoring the load servicing robot (1) to the cable (3).

7. Cable climbing machine according to claim 6, wherein the first clamping module (6) or the second clamping module (6) comprises a pair of clasps and a worm gear (603);

two groups of holding claws (601) of one holding claw pair are driven by two groups of worm gears (603) to open and close, worm wheels of the two groups of worm gears (603) are fixed at the roots of the holding claws (601), and worms of the two groups of worm gears (603) are connected by the same shaft.

8. Cable climbing machine according to claim 7, wherein the drive module (8) of the anchoring traction robot (2) comprises a plurality of rotor mechanisms;

a plurality of rotor mechanism with first centre gripping module (6) are circumference evenly distributed as the center, or with the axis of embracing the claw pair is axisymmetric distribution.

9. Cable climbing machine according to claim 8, wherein the drive module (8) of the anchoring traction robot (2) further comprises a roll-ball shaped housing;

the rotor wing mechanism is arranged in the rolling ball-shaped shell, and the rolling ball-shaped shell is of a hollow structure.

10. Cable climbing machine according to claim 6, wherein the load service robot (1) further comprises a telescopic arm (10);

the second clamping module (6) is arranged at the tail end of the telescopic arm (10).

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