A high-altitude cable climbing mechanism and robot based on elastic frame

Abstract

The invention discloses a high-altitude cable rope climbing mechanism and robot based on an elastic frame. The high-altitude cable rope climbing mechanism comprises three drive wheel sets, a connecting device, a descent speed limiting device and obstacle induction devices. The connecting device comprises three parallel connecting rods. Each idler wheel can serve as a drive wheel and is conic. The side, making contact with a cable rope, of each idler wheel is provided with stripes. The deviation directions of the stripes on the two idler wheels in each drive wheel set are opposite. By the adoption of the structure, when the idler wheels rotate in the same direction, the robot climbs upwards; and when the idler wheels rotate in the opposite directions, the robot does not perform climbing operation and rotates around the center of the cable rope at the angular speed, and therefore the whole outer cylindrical face is detected. In addition, the braking force is increased along with the increase of the descending speed, the descending speed and the braking force are in a dynamic balanced process, and the robot can descend at a constant speed or nearly a constant speed. Meanwhile, the outer cylindrical face of the cable rope can be subjected to circumferential fault detection at 360 degrees, and no detection dead angle exists.

Description

technical field [0001] The invention relates to a robot for fault detection of stay cables of long-span cable-stayed bridges or other high-altitude poles and transmission lines, in particular to a high-altitude cable climbing mechanism based on an elastic frame. Background technique [0002] The robots in the prior art are all uncontrollable in the degree of freedom of rotation, so the detection of the entire outer cylindrical surface cannot be completed. [0003] In addition, most of the existing robots have complex structures, heavy weight, weak climbing ability, and weak ability to overcome obstacles. It is troublesome to adjust when adapting to different pipe diameters. For example, when the pipe diameter is different, the posture of the mechanism is different, and the elongation length of the spring is different. , in order to ensure the constant pressing force of the roller, the spring needs to be replaced frequently, and the adjustment is quite troublesome. [0004] ...

AI Technical Summary

Problems solved by technology

[0002] The robot in the prior art is uncontrollable in the degree of freedom of rotation, so it cannot complete the inspection of the entire outer cylindrical surface

[0003] In addition, most of the existing robots have complex structures, heavy weight, weak climbing ability, and weak ability to overcome obstacles. It is troublesome to adjust when adapting to different pipe diameters. For example, when the pipe diameter is different, the posture of the mechanism is different, and the elongation length of the spring is different. , in order to ensure a constant pressing force of the roller, the spring needs to be replaced frequently, and the adjustment is quite troublesome

[0004] In addition, due to the long-term use of the cable and the harsh environment, the surface protection layer is often damaged, causing the internal steel wire to break and warp

Climbing robots can easily get caught when passing through these obstacles, and are forced to stay on the high-altitude cables and cannot successfully return to the ground

And the climbing robot stays on the high-altitude cable, which is very dangerous in itself

Images