A cable climbing robot

Abstract

The present invention discloses a cable climbing robot, which includes a cable climbing robot body. An adjusting bracket with a hook is arranged on the cable climbing robot body, and an auxiliary wheel mechanism is hung on the adjusting bracket. The cable climbing robot further includes a detection mechanism fixed on the cable climbing robot body and used for photographing images in the circumferential direction of the cableway. The detection mechanism includes several baffles fixedly connected to the cable climbing robot body and evenly dividing the circumferential direction of the cableway, and an apparent camera arranged between adjacent baffles and facing the cableway. Through the above scheme, the present invention has the advantages of simple structure, wide application range, high detection efficiency, etc., and has high practical value and popularization value in the field of cableway detection technology.

Description

Technical Field

[0001] The present invention relates to the technical field of cableway detection, and in particular to a cable-climbing robot. Background Art

[0002] The cableway described in this article is mainly used for the apparent detection of the cableway of a cable-stayed bridge, but it is not limited thereto and is also applicable to the crawling detection of tubular objects. Since the cableway of the bridge is relatively high, it is impossible for humans to conduct a comprehensive inspection. Only the position a few meters away from the bridge deck can be observed, and the distance cannot be detected.

[0003] For this reason, the applicant specifically filed a Chinese invention patent with the patent application number "202010168458.3" and the name "A pre-tightening cable-climbing robot", which includes a first frame support rod and a second frame support rod arranged along the cableway direction of the cable-stayed bridge, several cross-connecting plates straddling and fixedly connected between the first frame support rod and the second frame support rod, a first driving component and a second driving component arranged back to back and fixed at the bottom of the cross-connecting plate, a pre-tightening mechanism with the top connected to the cross-connecting plate, two adjusting brackets with the top fixedly connected to the first frame support rod and the second frame support rod respectively and placed on both sides of the cableway of the cable-stayed bridge, several auxiliary wheel hooks opened on any one of the adjusting brackets, an auxiliary wheel hanging on the auxiliary wheel hooks at the same height of the two adjusting brackets and pressing against the outer surface of the cableway of the cable-stayed bridge, and an apparent camera fixed on the cross-connecting plate for taking surface images of the cableway of the cable-stayed bridge. In addition, a Chinese invention patent with the patent application number "202010168425.9" and the name "A power-uniform distributed self-adaptive cable-climbing robot" was also proposed. Although it can realize cableway climbing and apparent detection, for a cableway with a relatively large diameter, it needs to be set up in pairs for cooperation; moreover, the images taken by its apparent camera are only partial surfaces of the cableway, so multiple climbs are required to complete the overall detection during retrieval.

[0004] Therefore, there is an urgent need to propose a cable-climbing robot with a simple structure, a wide application range, and high detection efficiency. Summary of the Invention

[0005] In view of the above problems, the purpose of the present invention is to provide a cable-climbing robot, and the technical solution adopted by the present invention is as follows:

[0006] A cable climbing robot climbs along the cableway direction of a cable-stayed bridge and captures images of the cableway surface. The cable climbing robot includes a cable climbing robot body, and an adjustment bracket with a hook is arranged on the cable climbing robot body. An auxiliary wheel mechanism is hung on the adjustment bracket. The cable climbing robot further includes a detection mechanism fixed on the cable climbing robot body for capturing images in the circumferential direction of the cableway. The detection mechanism includes several baffles fixedly connected to the cable climbing robot body and evenly dividing the circumferential direction of the cableway, and an apparent camera arranged between adjacent baffles and facing the cableway.

[0007] Further, the detection mechanism includes a cross beam fixed on the cable climbing robot body, a first vertical rod and a second vertical rod vertically fixed at the ends of the cross beam in one-to-one correspondence, a first baffle with one end fixed on the cross beam, arranged along the axial direction of the cableway and with the bottom close to the cableway surface, a second baffle with one end fixed on the first vertical rod, arranged along the axial direction of the cableway and close to the cableway surface, a third baffle with one end fixed on the second vertical rod, arranged along the axial direction of the cableway and close to the cableway surface, a first apparent camera fixed on the cross beam and located between the first baffle and the second baffle, a second apparent camera fixed on the cross beam and located between the first baffle and the third baffle, and a third apparent camera fixed on the second vertical rod and located between the second baffle and the third baffle.

[0008] The first baffle, the second baffle and the third baffle evenly divide the circumferential direction of the cableway.

[0009] Even further, the detection mechanism further includes a first apparent camera support arranged between the cross beam and the first apparent camera, a second apparent camera support arranged between the cross beam and the second apparent camera, and a third apparent camera support arranged between the second vertical rod and the third apparent camera.

[0010] Further, the detection mechanism further includes a first cross bar with one end fixed on the cross beam and arranged along the axial direction of the cableway, and a distance sensor arranged at the other end of the first cross bar.

[0011] Even further, the auxiliary wheel mechanism includes two auxiliary wheel support rods arranged along the axial direction of the cableway and parallel to each other, a hook shaft fixedly connected to the middle of the auxiliary wheel support rods and hung and connected to the adjustment bracket, and auxiliary wheels arranged between the two ends of the two auxiliary wheel support rods in one-to-one correspondence.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] (1) The present invention ingeniously sets up a detection mechanism, which evenly divides the circumferential direction of the cableway and sets an apparent camera facing the cableway between adjacent baffles. This can not only ensure that the apparent camera effectively captures the surface image of the cableway, but also solve the problem of overlapping and irrelevant content in the image, and can capture all the images of the circumferential direction of the cableway in one climb, so as to improve the detection efficiency, reduce the workload of later image processing, and achieve multiple benefits with one action;

[0014] (2) The present invention ingeniously sets up an auxiliary wheel mechanism and is provided with two auxiliary wheels to ensure the stable operation of the cableway climbing robot and make the climbing force evenly distributed;

[0015] (3) The present invention adjusts the position of the hook of the adjusting bracket through the hook shaft to realize the detection of cableways with different diameters. It has a wide range of applications and does not require multiple cableway climbing robots to be set up.

[0016] In summary, the present invention has the advantages of simple structure, wide application range, high detection efficiency, etc., and has high practical value and popularization value in the field of cableway detection technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, so they should not be regarded as limiting the protection scope. For those skilled in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0018] Figure 1 It is the schematic structural diagram (one) of the present invention.

[0019] Figure 2 It is the schematic structural diagram (two) of the present invention.

[0020] Figure 3 It is the schematic structural diagram of the auxiliary wheel mechanism of the present invention.

[0021] Figure 4 It is the schematic structural diagram (one) of the detection mechanism of the present invention.

[0022] Figure 5 It is the schematic structural diagram (two) of the detection mechanism of the present invention.

[0023] In the above-mentioned drawings, the component names corresponding to the reference numerals are as follows:

[0024] 1. Cable climbing robot body; 2. Cableway; 3. Detection mechanism; 11. Auxiliary wheel mechanism; 13. Adjustment bracket; 31. Cross beam; 32. First vertical rod; 33. Second vertical rod; 34. First baffle; 35. Second baffle; 36. Third baffle; 37. First appearance camera; 38. Second appearance camera; 39. Third appearance camera; 111. Auxiliary wheel support rod; 112. Hook shaft; 113. Auxiliary wheel; 311. First cross bar; 312. Distance sensor; 371. First appearance camera bracket; 381. Second appearance camera bracket; 391. Third appearance camera bracket. Detailed implementation mode

[0025] To make the objectives, technical solutions and advantages of the present application clearer, the present invention will be further described below with reference to the accompanying drawings and embodiments. The implementation modes of the present invention include but are not limited to the following embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0026] Embodiment

[0027] As Figures 1 to 5 shown, this embodiment provides a cable climbing robot that climbs along the cableway direction of a cable-stayed bridge and captures images of the cableway surface. It should be noted that the serial number terms such as "first" and "second" in this embodiment are only used to distinguish similar components and should not be construed as specific limitations on the scope of protection. In addition, the directional terms such as "bottom", "top", "peripheral edge" and "center" in this embodiment are described based on the accompanying drawings.

[0028] In this embodiment, the cable climbing robot includes a cable climbing robot body 1, an adjustment bracket 13 provided on the cable climbing robot body 1 and with a hook, an auxiliary wheel mechanism 11 hung on the adjustment bracket 13, and a detection mechanism 3 fixed on the cable climbing robot body 1 for capturing images in the circumferential direction of the cableway.

[0029] Among them, the detection mechanism 3 evenly divides the circumferential direction of the cableway into 3 to 4 parts. Considering factors such as the cost, structure, shooting coverage area, and installation difficulty of the equipment, the detection mechanism 3 in this embodiment evenly divides the circumferential direction of the cableway into 3 parts. Therefore, the detection mechanism 3 includes a cross beam 31 fixed on the cable climbing robot body 1, a first vertical rod 32 and a second vertical rod 33 vertically fixed at the ends of the cross beam 31 respectively, a first baffle 34 with one end fixed on the cross beam 31, arranged along the axial direction of the cableway, and the bottom being close to the surface of the cableway, a second baffle 35 with one end fixed on the first vertical rod 32, arranged along the axial direction of the cableway, and being close to the surface of the cableway, a third baffle 36 with one end fixed on the second vertical rod 33, arranged along the axial direction of the cableway, and being close to the surface of the cableway, a first apparent camera 37 fixed on the cross beam 31 and located between the first baffle 34 and the second baffle 35, a second apparent camera 38 fixed on the cross beam 31 and located between the first baffle 34 and the third baffle 36, and a third apparent camera 39 fixed on the second vertical rod 33 and located between the second baffle 35 and the third baffle 36; in addition, a first apparent camera support 371 is arranged between the cross beam 31 and the first apparent camera 37, a second apparent camera support 381 is arranged between the cross beam 31 and the second apparent camera 38, and a third apparent camera support 391 is arranged between the second vertical rod 33 and the third apparent camera 39. In addition, in this embodiment, a first cross bar 311 arranged along the axial direction of the cableway is fixed on the cross beam 31, and a distance sensor 312 is arranged on the first cross bar 311. The first baffle, the second baffle, and the third baffle in this embodiment all coincide with the radial direction of the cableway, and the first apparent camera, the second apparent camera, and the third apparent camera are all vertically oriented towards the cableway and coincide with the radial direction of the cableway. In order to ensure the effectiveness and reliability of the captured images, the apparent camera is usually located at the middle position between adjacent baffles.

[0030] In this embodiment, in order to ensure reliable force application and climbing, the auxiliary wheel mechanism is improved. It 1 includes two auxiliary wheel support rods 111 arranged along the axial direction of the cableway and parallel to each other, a hook shaft 112 fixedly connected to the middle of the auxiliary wheel support rods 111 and hung and connected to the adjustment bracket 13, and auxiliary wheels 113 respectively arranged between the two ends of the two auxiliary wheel support rods 111.

[0031] In this embodiment, a suitable hook is selected according to the cableway 2 and the auxiliary wheel mechanism 11 is installed; in this embodiment, by adjusting the positions of the baffles and the apparent camera supports, the circumferential uniform division of the cableway is achieved, and the cable climbing robot body is started to travel along the cableway direction and capture images of the cableway surface, and its detection efficiency is 3 to 4 times that of the cable climbing robot proposed by the applicant.

[0032] The above embodiments are only preferred embodiments of the present invention and do not limit the protection scope of the present invention. Any changes made by adopting the design principle of the present invention and based on non-creative labor shall fall within the protection scope of the present invention.

Claims

1. A cable-climbing robot climbs along the cableway direction of a cable-stayed bridge and captures images of the cableway surface. The cable-climbing robot includes a cable-climbing robot body (1), and an adjusting bracket (13) with a hook is arranged on the cable-climbing robot body (1). An auxiliary wheel mechanism (11) is hung on the adjusting bracket (13). Characterized in that, the cable-climbing robot further includes a detection mechanism (3) fixed on the cable-climbing robot body (1) for capturing images in the circumferential direction of the cableway; the detection mechanism (3) includes several baffles fixedly connected to the cable-climbing robot body (1) and evenly dividing the circumferential direction of the cableway, and an apparent camera arranged between adjacent baffles and facing the cableway, and the apparent camera is in the middle position between adjacent baffles.

2. A cable-climbing robot according to claim 1, Characterized in that, the detection mechanism (3) includes a cross beam (31) fixed on the cable-climbing robot body (1), a first vertical rod (32) and a second vertical rod (33) vertically and fixedly arranged at the ends of the cross beam (31) respectively, a first baffle (34) with one end fixed on the cross beam (31), arranged along the axial direction of the cableway and with the bottom close to the cableway surface, a second baffle (35) with one end fixed on the first vertical rod (32), arranged along the axial direction of the cableway and close to the cableway surface, a third baffle (36) with one end fixed on the second vertical rod (33), arranged along the axial direction of the cableway and close to the cableway surface, a first apparent camera (37) fixed on the cross beam (31) and placed between the first baffle (34) and the second baffle (35), a second apparent camera (38) fixed on the cross beam (31) and placed between the first baffle (34) and the third baffle (36), and a third apparent camera (39) fixed on the second vertical rod (33) and placed between the second baffle (35) and the third baffle (36); the first baffle (34), the second baffle (35) and the third baffle (36) evenly divide the circumferential direction of the cableway.

3. A cable-climbing robot according to claim 2, Characterized in that, the detection mechanism (3) further includes a first apparent camera bracket (371) arranged between the cross beam (31) and the first apparent camera (37), a second apparent camera bracket (381) arranged between the cross beam (31) and the second apparent camera (38), and a third apparent camera bracket (391) arranged between the second vertical rod (33) and the third apparent camera (39).

4. A cable-climbing robot according to claim 2, Characterized in that, the detection mechanism (3) further includes a first cross bar (311) with one end fixed on the cross beam (31) and arranged along the axial direction of the cableway, and a distance sensor (312) arranged at the other end of the first cross bar (311).

5. A cable-climbing robot according to claim 1, Characterized in that, The auxiliary wheel mechanism (11) includes two auxiliary wheel support rods (111) arranged along the axial direction of the cableway and parallel to each other, a hook shaft (112) fixedly connected to the middle of the auxiliary wheel support rod (111) and hung and connected to the adjustment bracket (13), and auxiliary wheels (113) respectively arranged between the two ends of the two auxiliary wheel support rods (111).

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