A cable climbing robot

Abstract

The present invention discloses a cable climbing robot, including a walking mechanism for moving along the axial direction of the cable and a gravity self-locking module connected to the walking mechanism; the gravity self-locking module has a lifting ring for suspending a heavy object and a foot for holding the cable under the gravity traction of the heavy object. Under the action of the gravity self-locking module, the aforementioned walking mechanism can automatically adjust the friction between it and the cable according to whether the gravity self-locking module is towing a heavy object and the mass of the towed heavy object, so as to ensure the connection strength between the walking mechanism and the cable. Among them, the gravity self-locking module is an under-actuated foot gravity self-locking mechanism, which can not only assist the walking mechanism to meet the traction and dragging of heavy loads, but also will not increase the number of power equipment, which is conducive to the lightweight of the cable climbing robot and meets the large load traction and dragging operation of the cable climbing robot.

Description

Technical Field

[0001] The invention relates to the field of climbing robots, and in particular to a cable climbing robot. Background Art

[0002] The cables of long-span cable-stayed bridges are generally cylindrical, with a diameter of 50 to 200 mm, and are installed at angles ranging from 30° to 90° completely vertical. The cable is generally wrapped with a polyethylene sheath, and has spiral rain lines, pits or other appendages with a diameter of 3 to 5 mm on the surface.

[0003] The cables are the main load-bearing components of cable-stayed bridges. In actual applications, due to long-term exposure to various complex natural environments, the polyethylene sheaths on the cable surfaces will experience corrosion, cracking, hardening, aging, etc. to varying degrees, resulting in the risk of rust and wire breakage of the steel wires in the sheaths. In order to ensure the safe use of the cables, the safety performance of the cables needs to be regularly inspected and maintained.

[0004] Currently, the commonly used methods include manual inspection and cable robot inspection. Manual inspection is labor-intensive, inefficient, costly, and unsafe. Cable robots usually adopt a wheeled structure, which requires the driving wheel to maintain good contact with the cable surface in order to meet the relative positioning of the cable robot and the cable. However, due to the irregular shape of the cable surface, in actual operation, the friction between the driving wheel and the aforementioned cable is difficult to control, and it is easy to fall off and loosen; combined with the complex structure and heavy weight of some cable robots, their load capacity is obviously limited. Summary of the invention

[0005] The object of the present invention is to provide a cable climbing robot, the friction force between which increases with the increase of the load and the cable, which can reduce the adverse effects brought by the irregular surface of the cable, fully ensure the operation safety of the cable climbing robot, and meet the operation requirements of large loads.

[0006] To achieve the above-mentioned objectives, the present invention provides a cable climbing robot, comprising a walking mechanism for moving along the axial direction of the cable and a gravity self-locking module connected to the walking mechanism; the gravity self-locking module comprises a ring for suspending a heavy object and a sole for holding the cable under the gravity traction of the heavy object.

[0007] Preferably, the gravity self-locking module includes a plurality of the soles for enclosing the circumference of the cable under the gravity traction of the weight.

[0008] Preferably, the gravity self-locking module also includes a driving rod, a mounting seat and a return spring; the mounting seat is provided with a slide groove parallel to the extension direction of the cable; the first end of the driving rod is slidably hinged in the slide groove; the second end of the driving rod is connected to the sole; the sliding direction of the first end intersects with the moving direction of the second end; the lifting ring is connected to the first end; and the two ends of the return spring are respectively connected to the mounting seat and the sole.

[0009] Preferably, the surface of the sole is provided with a V-shaped rubber surface facing the cable.

[0010] Preferably, the walking mechanism includes two groups of roller shaft assemblies respectively arranged on both sides of the cable; any group of the roller shaft assemblies includes an axis distributed along the radial direction of the cable and rollers arranged at both ends of the axis; the axes of the two groups of the roller shaft assemblies are connected by connecting pieces to form a frame that is closed end to end and arranged around the cable.

[0011] Preferably, the axes of the two groups of roller axis assemblies are spaced in parallel; the two groups of connecting members are spaced in parallel; the frame is specifically a rectangular frame in which the axes of the two groups of roller axis assemblies and the two groups of connecting members are closed end to end; the end of any one of the axes is sleeved by a frame sleeve and slidably connected to the adjacent connecting member; the end of the connecting member is sleeved with a buffer spring for squeezing the frame sleeve toward the middle of the connecting member.

[0012] Preferably, any of the connecting members comprises a lead screw and six groups of connecting rods hinged end to end in sequence; the lead screw and the six groups of connecting rods are distributed in the same plane;

[0013] There are hinge points I, II, III, IV, V and VI distributed sequentially between the six groups of connecting rods; the hinge point I is slidably hinged to the lead screw, and the hinge point IV is hinged to the lead screw slider of the lead screw; all the connecting rods connected to the hinge point I and all the connecting rods connected to the hinge point IV are of equal length; the connecting rod between the hinge point II and the hinge point III is of equal length to the connecting rod between the hinge point V and the hinge point VI;

[0014] The axis is perpendicular to the planes where the lead screw and the connecting member are located respectively; the roller shaft assembly is connected to the connecting rod which is parallel to the lead screw.

[0015] Preferably, the connecting rods of the same connecting member include a third connecting rod located between the hinge point II and the hinge point III and a sixth connecting rod located between the hinge point V and the hinge point VI;

[0016] The end of the lead screw is provided with a first track groove; the end of the third connecting rod is provided with a second track groove; the end of the sixth connecting rod is provided with a third track groove; the first track groove is parallel to the lead screw, the second track groove is perpendicular to the third connecting rod, and the third track groove is perpendicular to the sixth connecting rod;

[0017] The gravity self-locking module also includes a cross-shaped guide rail; the lifting ring and the sole are connected to the same branch guide rail of the cross-shaped guide rail; the other three branch guide rails of the cross-shaped guide rail are slidably matched with the first track groove, the second track groove and the third track groove respectively.

[0018] Preferably, the roller of the walking mechanism is in the shape of a truncated cone; the roller is provided with a rubber roller surface distributed along the circumference of the truncated cone.

[0019] Preferably, a wireless driving module for driving the rubber roller to roll in contact with the cable is provided on one side of the walking mechanism.

[0020] Compared with the above-mentioned background technology, the cable climbing robot provided by the present invention includes a walking mechanism for moving along the axial direction of the cable and a gravity self-locking module connected to the walking mechanism; the gravity self-locking module has a ring for suspending heavy objects and a sole for holding the cable under the gravity traction of the heavy object.

[0021] Based on the specific type of the weight connected to the cable climbing robot in actual operation, the cable climbing robot can perform maintenance operations on inclined or vertically arranged cables, including but not limited to magnetic flux leakage detection, cleaning, PE layer repair, etc. In other words, the weight can usually be an instrument for magnetic flux leakage detection, an instrument for cleaning, or an instrument for PE layer modification, etc.; the cable climbing robot pulls the weight to move along the cable, thereby performing the corresponding maintenance operations.

[0022] For the above-mentioned cable climbing robot, under the action of the gravity self-locking mechanism, the walking mechanism can automatically adjust the friction between the cable climbing robot and the cable according to whether the gravity self-locking mechanism is pulling a heavy object and the mass of the pulled heavy object. The greater the mass of the heavy object pulled by the gravity self-locking mechanism, the greater the pressure applied by the sole to the cable, and the aforementioned pressure can assist the walking mechanism to ensure the connection strength between the cable climbing robot and the cable. At the same time, the gravity self-locking module belongs to an under-actuated sole gravity self-locking mechanism, so it reduces the number of power equipment while meeting the traction and dragging of heavy loads, which is conducive to the lightweight of the cable climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the structure of the cable climbing robot provided by an embodiment of the present invention in a first direction;

[0025] Figure 2 A schematic diagram of the structure of the cable climbing robot provided by an embodiment of the present invention in the second direction;

[0026] Figure 3 A schematic diagram of the connection between the cable climbing robot and a heavy object provided by an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the local structure of the cable climbing robot at the connecting piece provided by an embodiment of the present invention;

[0028] Figure 5 A schematic diagram of the partial structure of the sole of the foot of a cable climbing robot provided by an embodiment of the present invention;

[0029] Figure 6 A schematic diagram of the local structure of the cable climbing robot at the cross guide rail provided by an embodiment of the present invention.

[0030] Among them, 01-cable, 02-weight, 021-winch traction device, 1-foot, 2-lifting ring, 3-drive rod, 4-reset spring, 5-roller shaft assembly, 51-shaft, 52-roller, 6-connecting piece, 61-screw, 611-screw slider, 621-first connecting rod, 622-second connecting rod, 623-third connecting rod, 624-fourth connecting rod, 625-fifth connecting rod, 626-sixth connecting rod, 63-rotating handwheel, 7-frame slide, 8-buffer spring, 9-first track groove, 10-second track groove, 11-third track groove, 12-cross guide rail, 13-lithium battery. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Please refer to Figures 1 to 6 , Figure 1 A schematic diagram of the structure of the cable climbing robot provided by an embodiment of the present invention in a first direction; Figure 2 A schematic diagram of the structure of the cable climbing robot provided by an embodiment of the present invention in the second direction; Figure 3 A schematic diagram of the connection between the cable climbing robot and a heavy object provided by an embodiment of the present invention; Figure 4 A schematic diagram of the local structure of the cable climbing robot at the connecting piece provided by an embodiment of the present invention; Figure 5 A schematic diagram of the partial structure of the sole of the foot of a cable climbing robot provided by an embodiment of the present invention; Figure 6 This is a schematic diagram of the partial structure of the cable climbing robot provided by the embodiment of the present invention at the cross-shaped guide rail. It should be noted that a rope is provided between the cable climbing robot and the hoist traction device of the heavy object. Figure 3 Not shown.

[0034] The present invention provides a cable climbing robot, comprising a walking mechanism and a gravity self-locking module connected to the walking mechanism; wherein the gravity self-locking module comprises a lifting ring 2 and a sole 1. In the cable climbing robot, the walking mechanism is used to move in contact with the surface of the cable 01, thereby driving the gravity self-locking module to move along the axial direction of the cable 01. The lifting ring 2 of the gravity self-locking module can be used to connect a heavy object 02 such as a cable 01 magnetic flux leakage detection device, a cable 01 cleaning device, a cable 01 PE layer repair device, and a cable 01 visual inspection device, and the sole 1 is used to hold the cable 01 tightly under the traction of the aforementioned heavy object 02. Accordingly, when the heavy object 02 is separated from the lifting ring 2, the force applied by the sole 1 to the cable 01 is greatly reduced, and even the sole 1 is completely separated from the cable 01. For the various heavy objects 02 listed above, they may include a function realization part and a winch traction device 021, and the aforementioned function realization part can move up and down relative to the walking mechanism of the cable climbing robot under the drive of the winch traction device 021.

[0035] The walking mechanism may include structures such as rollers 52, synchronous belt transmission mechanisms, motors and reducers. The motor transmits power to the rollers 52 through the reducers and synchronous belt transmission mechanisms, driving the rollers 52 to roll along the surface of the cable 01, thereby providing the cable climbing robot with a climbing force to move along the cable 01. The reducer may be a worm gear reducer with a self-locking characteristic; when the cable climbing robot is crawling on the cable 01, the reducer can ensure that the rollers 52 will not rotate due to gravity when the robot loses power, thereby preventing the robot from falling quickly and being damaged, and ensuring the safety of the entire cable climbing robot.

[0036] It should be noted that, because the sole 1 of the cable climbing robot needs to hold the cable 01 tightly with the help of the gravity of the weight 02, the cable climbing robot is suitable for cables 01 that are arranged inclined or vertically.

[0037] For the inclined or vertically arranged cable 01, in the cable climbing robot, the sole 1 can be connected to the main part of the gravity self-locking module through a transmission structure such as a connecting rod mechanism. When the weight 02 causes the input end of the transmission structure such as the connecting rod mechanism to generate an input displacement along the gravity direction, the input displacement can be decomposed into the extension direction of the cable 01, and accordingly, the output end of the transmission structure such as the connecting rod mechanism will generate an output displacement along the radial direction of the cable 01, and this output displacement will drive the sole 1 to approach the cable 01 along the radial direction of the cable 01 until the sole 1 squeezes the cable 01. Generally, within the strength range of the structural parts of the gravity self-locking module, the greater the gravity of the weight 02, the greater the friction support force between the sole 1 and the cable 01, so that the cable climbing robot can pull and drag a heavy load of the weight 02 on the cable 01.

[0038] In summary, in the cable climbing robot provided by the present invention, the walking mechanism can automatically adjust the friction between the cable climbing robot and the cable 01 according to whether the heavy object 02 is towed and the mass of the towed heavy object 02, and ensure the connection strength between the walking mechanism and the cable 01 when the walking mechanism drags the heavy object 02 with a large load. It can be seen that the cable climbing robot uses the walking mechanism to provide the power for the entire product to move relative to the cable 01, and at the same time uses the under-actuated foot gravity self-locking mechanism to improve the connection strength between the entire product and the cable 01, reducing the number of power equipment while meeting the traction and dragging of the heavy object 02 with a large load.

[0039] The cable climbing robot provided by the present invention is further described below in conjunction with the accompanying drawings and implementation modes.

[0040] In the cable climbing robot, the gravity self-locking module may be provided with a plurality of soles 1, and all the soles 1 are arranged in a ring, and are used to be closed around the cable 01 under the gravity traction of the weight 02. For example, the gravity self-locking module may include two soles 1, and the two soles 1 are arranged relatively, and are used to be clamped on two opposite sides of the cable 01 under the gravity traction of the weight 02. Among them, the aforementioned plurality of soles 1 can be arranged in a ring on the same plane, or can be spirally wound around the cable 01.

[0041] As for the specific implementation method of the sole 1 holding the cable 01 under the gravity traction of the weight 02, a specific embodiment is provided below.

[0042] In this embodiment, in addition to the lifting ring 2 and the sole 1, the gravity self-locking module also includes a driving rod 3 and a mounting seat; wherein the mounting seat is relative to the main structure of the gravity self-locking module and is used to realize the connection between the remaining structure of the gravity self-locking module and the walking mechanism.

[0043] The mounting seat is provided with a slide groove parallel to the extension direction of the cable 01, the first end of the driving rod 3 is slidably hinged through the slide groove, and the second end of the driving rod 3 is connected to the sole 1; the lifting ring 2 is connected to the first end of the driving rod 3. The sliding direction of the first end of the driving rod 3 intersects with the moving direction of the second end thereof, because the sole 1 is arranged at the first end of the driving rod 3 and the second end of the driving rod 3 is arranged in the slide groove, that is, the moving direction of the sole 1 intersects with the groove length direction of the slide groove.

[0044] It can be seen that when the lifting ring 2 of the gravity self-locking module is connected to the weight 02, the weight 02 pulls the first end of the driving rod 3 to slide downward along the slide slot, and the second end of the driving rod 3 moves accordingly, and the moving direction is compared to the slot length direction of the slide slot, that is, compared to the extension direction of the cable 01. Obviously, the displacement generated by the second end of the driving rod 3 can be decomposed into the radial direction of the cable 01, so that the sole 1 arranged at the second end of the driving rod 3 is close to the cable 01 along the radial direction of the cable 01 until the cable 01 is squeezed.

[0045] On this basis, in order to improve the use effect of the cable climbing robot, a reset spring 4 is also provided between the sole 1 and the mounting seat. When the weight 02 pulls the first end of the driving rod 3 to slide down, the distance between the mounting seat and the second end of the driving rod 3 increases, and the reset spring 4 is stretched; once the weight 02 is separated from the ring 2, the reset spring 4 automatically contracts, and the second end of the driving rod 3 is pulled close to the mounting seat, thereby separating the sole 1 from the cable 01.

[0046] The sole 1 used in the above embodiment may have a V-shaped rubber surface facing the cable 01. When the sole 1 presses the cable 01, the V-shaped rubber surface adheres to the surface of the cable 01 and deforms adaptively, so that the sole 1 and the cable 01 are in full and effective contact.

[0047] As for the walking mechanism of the cable climbing robot, it may include two groups of roller shaft assemblies 5 for being arranged on both sides of the cable 01. For any group of roller shaft assemblies 5, it may include shafts 51 distributed along the radial direction of the cable 01 and rollers 52 installed at both ends of the shafts 51. For the two groups of roller shaft assemblies 5, the shafts 51 of the two groups of roller shaft assemblies 5 are connected to each other through connectors 6 to form a frame closed from beginning to end. For example, from the radial section direction of the cable 01, the shafts 51 of the two groups of roller shaft assemblies 5 can form a triangular frame closed from beginning to end through one group of connectors 6, or a quadrilateral frame closed from beginning to end through two groups of connectors 6. Of course, a polygonal frame closed from beginning to end can also be formed through multiple groups of connectors 6. It can be seen that the frame of the walking mechanism is used to surround the circumference of the cable 01. Accordingly, all the rollers 52 of the walking mechanism are located on the circumference of the cable 01, and any roller 52 can roll on the surface of the cable 01.

[0048] On the basis of the above structure, the cable climbing robot is provided with two groups of connecting members 6; the shafts 51 of the two groups of roller shaft assemblies 5 are parallel and spaced apart; and the two groups of connecting members 6 are parallel and spaced apart. From the radial section of the cable 01, the frame mentioned above is a rectangular frame formed by connecting the two groups of shafts 51 and the two groups of connecting members 6, and the cable 01 is surrounded in the rectangular frame. Obviously, the two groups of shafts 51 and the two groups of connecting members 6 respectively form the four sides of the rectangular frame.

[0049] The two axial ends of any group of shafts 51 are respectively sleeved by the frame sleeve 7 and slidably connected to the adjacent connecting members 6. If the side where the shafts 51 are located is regarded as the length of the rectangular frame, and the side where the connecting members 6 are located is regarded as the width of the rectangular frame, then the rectangular frame is a rectangular frame with a constant length and a variable width. In addition, a buffer spring 8 is sleeved at the end of any connecting member 6, one end of which is fixed relative to the end surface of the connecting member 6, and the other end is pressed against the frame sleeve 7 toward the middle of the length of the connecting member 6.

[0050] Therefore, for the above-mentioned buffer spring 8, when the surface of the cable 01 is smooth and has no protrusions, the frame sleeve 7 is maintained at a constant position in the length direction of the connecting member 6, and the buffer spring 8 applies a constant pressure to the frame sleeve 7; when there is a local protrusion on the surface of the cable 01 and the roller 52 moves to the protrusion, the distance between the two frame sleeves 7 on the same connecting member 6 is expanded, thereby compressing the adjacent buffer spring 8. In other words, the buffer spring 8 is used to realize the obstacle crossing function of the walking mechanism, ensuring that the roller 52 of the walking mechanism can not only press the cable 01 at the unobstructed part of the cable 01, but also can expand adaptively at the obstacle of the cable 01, so as to continue walking over the obstacle.

[0051] Furthermore, the connecting member 6 of the walking mechanism includes a lead screw 61 and six groups of connecting rods hinged end to end in sequence; the lead screw 61 and the six groups of connecting rods are distributed in the same plane. Among them, the six groups of connecting rods hinged end to end in sequence can be regarded as a hexagonal frame. For the convenience of description, the hinges formed by the six groups of connecting rods hinged to each other can be defined in sequence along the same clockwise direction: hinge I, hinge II, hinge III, hinge IV, hinge V and hinge VI. Among them, all the connecting rods connected to hinge I and all the connecting rods connected to hinge IV are of the same length; the connecting rod between hinge II and hinge III is of the same length as the connecting rod between hinge V and hinge VI. Please refer to Figure 4 , hinge point I is located between the first connecting rod 621 and the second connecting rod 622, hinge point II is located between the second connecting rod 622 and the third connecting rod 623, hinge point III is located between the third connecting rod 623 and the fourth connecting rod 624, hinge point IV is located between the fourth connecting rod 624 and the fifth connecting rod 625, hinge point V is located between the fifth connecting rod 625 and the sixth connecting rod 626, and hinge point VI is located between the sixth connecting rod 626 and the first connecting rod 621; then the first connecting rod 621, the second connecting rod 622, the fourth connecting rod 624 and the fifth connecting rod 625 are of equal length, and the third connecting rod 623 and the sixth connecting rod 626 are of equal length.

[0052] With respect to the above structure of the connecting member 6, in the walking mechanism, the shaft 51 of the roller shaft assembly 5 is installed at an angle perpendicular to the lead screw 61 and also perpendicular to the plane where the connecting member 6 is located; wherein the shaft 51 of the roller shaft assembly 5 is connected to a connecting rod parallel to the lead screw 61 through a frame slider. Figure 4 The third connecting rod 623 and the sixth connecting rod 626 are both parallel to the lead screw 61, and the shaft 51 of the roller shaft assembly 5 is connected to the adjacent third connecting rod 623 (or the sixth connecting rod 626) through the frame slider.

[0053] In the above structure, the lead screw 61 is connected to the hinge point I and the hinge point IV, specifically, the lead screw 61 is hinged to the hinge point I, and the lead screw slider 611 of the lead screw 61 is hinged to the hinge point IV. Therefore, when the lead screw slider 611 moves along the lead screw 61, the distance between the hinge point I and the hinge point IV changes, and the six groups of connecting rods are correspondingly pulled to deflect in the same plane. At the same time, according to the length relationship of the six groups of connecting rods, the third connecting rod 623 and the sixth connecting rod 626 are parallel and spaced, and the distance between the axes 51 of the two groups of roller shaft assemblies 5 depends on the distance between the third connecting rod 623 and the sixth connecting rod 626. Therefore, when the distance between the hinge point I and the hinge point IV changes, the third connecting rod 623 and the sixth connecting rod 626 move closer to and farther from each other in a translational motion, thereby achieving the distance between the axes 51 of the two groups of roller shaft assemblies 5.

[0054] Obviously, when the shafts 51 of the two groups of roller shaft assemblies 5 are close to each other, the spacing between all the rollers 52 of the walking mechanism becomes smaller, which is suitable for cables 01 with smaller radial dimensions, or in other words, it can increase the stress applied to the surface of the cable 01; when the shafts 51 of the two groups of roller shaft assemblies 5 are far away from each other, the spacing between all the rollers 52 of the walking mechanism becomes larger, which is suitable for cables 01 with larger radial dimensions, or in other words, it can reduce the stress applied to the surface of the cable 01. In short, the above structure and connection relationship of the walking mechanism can enable the cable climbing robot to meet the use requirements of cables 01 with different radial dimensions.

[0055] The screw rod of the screw 61 can specifically be a trapezoidal screw rod. A rotating hand wheel 63 is provided at the end of the trapezoidal screw rod. The operator can rotate the aforementioned rotating hand wheel 63 to drive the trapezoidal screw rod to rotate, so that the screw slider 611 moves along the trapezoidal screw rod, and then pulls and drives the six groups of connecting rods in the same plane to move, so that the third connecting rod 623 and the sixth connecting rod 626 move closer to and away from each other in a translational manner, so as to adapt to cables 01 of different diameters. When the rotating hand wheel 63 is adjusted into place, the rotating hand wheel 63 is locked to prevent loosening. Obviously, when the connector 6 with different connecting rod lengths is applied to the cable climbing robot, the cable climbing robot can adapt to cables 01 with a larger range of cable diameters.

[0056] On the basis of the above structure, in the same connecting member 6 of the cable climbing robot, its connecting rods include a third connecting rod 623 located between hinge point II and hinge point III and a sixth connecting rod 626 located between hinge point V and hinge point VI. According to the above records, the third connecting rod 623 and the sixth connecting rod 626 are parallel to the lead screw 61, and the three are in the same plane. Based on this structure, the walking mechanism can be provided with a first track groove 9 at the end of the lead screw 61, and a second track groove 10 at the end of the third connecting rod 623, and a third track groove 11 at the end of the sixth connecting rod 626. Among them, the first track groove 9 is parallel to the lead screw 61, the second track groove 10 is perpendicular to the third connecting rod 623, and the third track groove 11 is perpendicular to the sixth connecting rod 626. In accordance with the above structure of the walking mechanism, the gravity self-locking module also includes a cross-shaped guide rail 12. The cross-shaped guide rail 12 has four branch guide rails. The eyelet 2 and the sole 1 are connected to the same branch guide rail of the cross-shaped guide rail 12. The other three branch guide rails of the cross-shaped guide rail 12 are respectively slidably matched with the first track groove 9, the second track groove 10 and the third track groove 11 of the walking mechanism.

[0057] When the lifting ring 2 is connected to a weight 02 , the cross guide rail 12 of the gravity self-locking module pulls the third connecting rod 623 and the sixth connecting rod 626 closer to each other, so that all the rollers 52 of the walking mechanism squeeze the cable 01 , which is beneficial to increase the friction between the walking mechanism and the cable 01 .

[0058] Among them, the mounting seat mentioned above can be regarded as the cross-shaped guide rail 12 or a partial structure of the cross-shaped guide rail 12. Therefore, the branch guide rail in the cross-shaped guide rail 12 used to connect the lifting ring 2 and the sole 1 also refers to the slide groove of the mounting seat.

[0059] In order to increase the friction between the traveling mechanism and the cable 01 , the roller 52 of the traveling mechanism can be configured to be in a truncated cone shape, and the roller 52 is provided with a rubber roller surface along the circumference of the truncated cone for fitting against the surface of the cable 01 .

[0060] In addition, the cable climbing robot provided by the present invention also includes a wireless driving module; the wireless driving module may include a lithium battery 13, which is arranged on one side of the walking mechanism and is used to drive the rubber roller surface of the walking mechanism to roll along the cable 01. In other words, the cable climbing robot adopts wireless data transmission, communication and control. The transmission distance set by the aforementioned wireless driving module is greater than 300m, which can cover the cable 01 of the cable-stayed bridge with the largest length in China.

[0061] In summary, the cable climbing robot provided by the present invention can be applied to operations such as cable 01 spraying, inspection and maintenance of street lamp poles or cylindrical rods, and external inspection of pipelines. The cable climbing robot adopts modular assembly, with a compact, reliable and lightweight structure. It can be quickly and conveniently disassembled and assembled at the bridge inspection site, with high efficiency and low labor intensity. Among them, the walking mechanism can adapt to the diameter differences of different cables 01 within a large range. The driving device of the walking mechanism can ensure the safety of the cable climbing robot through structural self-locking, and simplify the operator's motion control of the cable climbing robot through wireless transmission; and the gravity self-locking module is set as an under-actuated foot gravity self-locking structure, thereby reducing the number of power devices used, which is conducive to the traction and dragging operations of large load equipment.

[0062] The cable climbing robot provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A cable climbing robot, characterized in that: It comprises a walking mechanism for moving along the axial direction of a cable and a gravity self-locking module connected to the walking mechanism; the gravity self-locking module comprises a lifting ring (2) for suspending a weight (02) and a sole (1) for holding the cable (01) tightly under the gravity traction of the weight (02); The gravity self-locking module comprises a plurality of soles (1) for enclosing the circumference of the cable (01) under the gravity traction of the weight (02); The gravity self-locking module also includes a driving rod (3), a mounting seat and a return spring (4); the mounting seat is provided with a slide groove parallel to the extension direction of the cable (01); the first end of the driving rod (3) is slidably hinged in the slide groove; the second end of the driving rod (3) is connected to the sole (1); the sliding direction of the first end intersects with the moving direction of the second end; the lifting ring (2) is connected to the first end; and the two ends of the return spring (4) are respectively connected to the mounting seat and the sole (1).

2. The cable climbing robot according to claim 1, characterized in that: The surface of the sole (1) is provided with a V-shaped rubber surface facing the cable (01).

3. The cable climbing robot according to any one of claims 1 or 2, characterized in that: The walking mechanism comprises two groups of roller shaft assemblies (5) respectively arranged on both sides of the cable (01); any group of the roller shaft assemblies (5) comprises shafts (51) distributed along the radial direction of the cable (01) and rollers (52) arranged at both ends of the shafts (51); the shafts (51) of the two groups of the roller shaft assemblies (5) are connected by a connecting piece (6) to form a frame which is closed end to end and arranged around the cable (01).

4. The cable climbing robot according to claim 3, characterized in that: The shafts (51) of the two groups of roller shaft assemblies (5) are spaced in parallel; the two groups of connecting members (6) are spaced in parallel; the frame is specifically a rectangular frame in which the shafts (51) of the two groups of roller shaft assemblies (5) and the two groups of connecting members (6) are connected end to end in a closed manner; the end of any shaft (51) is sleeved by a frame sliding sleeve (7) and is slidably connected to an adjacent connecting member (6); the end of the connecting member (6) is sleeved with a buffer spring (8) for pressing the frame sliding sleeve (7) toward the middle of the connecting member (6).

5. The cable climbing robot according to claim 4, characterized in that: Any of the connecting members (6) comprises a lead screw (61) and six groups of connecting rods hinged in sequence end to end; the lead screw (61) and the six groups of connecting rods are distributed in the same plane; There are hinge points I, II, III, IV, V and VI distributed sequentially between the six groups of connecting rods; the hinge point I is slidably hinged to the lead screw (61), and the hinge point IV is hinged to a lead screw slider (611) of the lead screw (61); all the connecting rods connected to the hinge point I and all the connecting rods connected to the hinge point IV are of equal length; the connecting rod between the hinge point II and the hinge point III is of equal length to the connecting rod between the hinge point V and the hinge point VI; The shaft (51) is perpendicular to the planes where the lead screw (61) and the connecting member (6) are located; and the roller shaft assembly (5) is connected to the connecting rod which is parallel to the lead screw (61).

6. The cable climbing robot according to claim 5, characterized in that: The connecting rods of the same connecting member (6) include a third connecting rod (623) located between the hinge point II and the hinge point III, and a sixth connecting rod (626) located between the hinge point V and the hinge point VI; A first track groove (9) is provided at the end of the lead screw (61); a second track groove (10) is provided at the end of the third connecting rod (623); and a third track groove (11) is provided at the end of the sixth connecting rod (626); the first track groove (9) is parallel to the lead screw (61), the second track groove (10) is perpendicular to the third connecting rod (623), and the third track groove (11) is perpendicular to the sixth connecting rod (626); The gravity self-locking module further comprises a cross-shaped guide rail (12); the lifting ring (2) and the sole (1) are connected to the same branch guide rail of the cross-shaped guide rail (12); and the other three branch guide rails of the cross-shaped guide rail (12) are respectively slidably matched with the first track groove (9), the second track groove (10) and the third track groove (11).

7. The cable climbing robot according to claim 1, characterized in that: The roller (52) of the walking mechanism is in the shape of a truncated cone; the roller (52) is provided with a rubber roller surface distributed along the circumference of the truncated cone.

8. The cable climbing robot according to claim 7, characterized in that: A wireless driving module is provided on one side of the walking mechanism for driving the rubber roller surface to be in contact with the cable (01) and to roll.

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