Cable climbing machine

Abstract

The embodiment of the application provides a cable climbing machine, which is used for providing a cable climbing machine with high speed and high load capacity, and comprises a load inspection robot, N anchor traction robots, N winches and N groups of traction ropes; the cable climbing machine takes the load inspection robot as the core, and the N anchor traction robots as branches, so as to form a star topology. The traction ropes are used for connecting between the load inspection robot and the anchor traction robots, and the winches are used for winding and unwinding the traction ropes. The anchor traction robots can move on the cable and are anchored at predetermined positions, so that an N-polygon inspection area is formed with the N anchor traction robots as the vertices, and the load inspection robot moves in the N-polygon inspection area under the pulling of the traction ropes, so as to complete the inspection and maintenance.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of cable maintenance, and specifically to a cable climbing machine. Background Art

[0002] Cables for long-span cable-stayed bridges include the stay cables of cable-stayed bridges and the main and suspension cables of suspension bridges. These cables are typically cylindrical, with diameters ranging from 50 to 230 mm. They are installed at angles ranging from 30° to 90° relative to the horizontal, typically with spiral rain lines, pits, or other attachments 3 to 5 mm in diameter.

[0003] To detect apparent damage and perform local repairs on both stay cables and suspension cables, multi-sided clamp-wheel climbing machines are currently commonly used. However, their drive wheels maintain point / line contact with the cylindrical surface of the cable, resulting in a small contact area. This makes the machine prone to slipping and spinning during climbing, making it difficult to generate sufficient friction to support the load. Therefore, multi-sided clamp-wheel climbing machines are primarily used to carry cameras to quickly capture surface images of the cable. They are unable to carry actuators such as magnetic flux leakage (MFL) sensors for detecting internal wire breaks in cables weighing over 40 kg, or specialized repair tools weighing over 15 kg. Especially as the load increases, the wheels need to exert greater pressure on the cable surface, which can damage the cable's polyethylene (PE) protective layer. Multi-sided clamp-wheel climbing machines achieve high speeds but low payloads.

[0004] To prevent damage to cables caused by high loads, existing climbing machines use a palm-grip mechanism. This mechanism utilizes a large contact surface between the palm and the cable, providing a high load capacity and protecting the cable surface. A hydraulically driven telescopic climbing mechanism then propels the machine's main body up the cable. However, this climbing mechanism weighs over 100 kilograms, resulting in slow climbing speeds and low cable operation efficiency. While palm-grip mechanisms achieve high loads, they also offer low speeds.

[0005] It can be seen that the cable climbing machine in the prior art cannot achieve high speed and high load at the same time, so it is necessary to develop a cable climbing machine with high load capacity and fast climbing speed. Summary of the Invention

[0006] An embodiment of the present application provides a cable climbing machine, which is used to provide a cable climbing machine with both high speed and high load capacity.

[0007] A first aspect of an embodiment of the present application provides a cable climbing machine, comprising: a load maintenance robot, N anchoring and traction robots, N winches, and N sets of traction ropes, where N>2;

[0008] The load maintenance robot and each anchoring traction robot are connected by a set of traction ropes respectively; N winches are arranged on the load maintenance robot and / or the N anchoring traction robots, and each winch is used to wind up or wind off a set of traction ropes respectively, so as to change the relative position of the load maintenance robot and the N anchoring traction robots;

[0009] The anchoring traction robot comprises a driving module and a first clamping module, the driving module is used to drive the anchoring traction robot to move to a preset position of the cable, and the first clamping module is used to fix the anchoring traction robot at the preset position of the cable;

[0010] When the N anchoring traction robots are fixed at different preset positions of the plurality of cables respectively, the N anchoring traction robots are taken as vertices to form a N-sided polygon maintenance area, and the N winches control the position of the load maintenance robot in the N-sided polygon maintenance area by winding up or winding off the N sets of traction ropes, so that the load maintenance robot maintains the cables in the N-sided polygon maintenance area.

[0011] In an implementation manner of the embodiment of the present 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 one cable respectively.

[0012] In an implementation manner of the embodiment of the present application, the winch comprises a winch motor, a winch reel, an in-out line port structure, an adjusting motor, a transmission member, a bidirectional screw rod and an adjusting nut;

[0013] The output end of the winch motor is connected with the winch reel, and the winch reel rotates to wind up or wind off the traction rope;

[0014] 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;

[0015] The adjusting nut cooperates with the bidirectional screw rod, when the bidirectional screw rod rotates in the same direction, the adjusting nut reciprocates along the axis of the bidirectional screw rod, and the preset distance between the two ends of the reciprocation is less than or equal to the axial thickness of the winch reel;

[0016] The first end of the in-out line port structure is fixedly connected with the adjusting nut, and the traction rope passes through the in-out line port structure.

[0017] In an implementation manner of the embodiment of the present application, the winch further comprises a sliding block and a guide rail;

[0018] The guide rail is arranged in parallel with the bidirectional screw rod, the second end of the in-out line port structure is fixedly connected with the sliding block, and the sliding block can slide along the guide rail, so that the in-out line port structure can move between the guide rail and the bidirectional screw rod.

[0019] In an implementation manner of the embodiment of the present application, the winch motor and the adjusting motor are the same motor.

[0020] In one implementation of the embodiment of the present application, the load maintenance robot further includes a second clamping module;

[0021] The second clamping module is used to anchor the load maintenance robot to the cable.

[0022] In one implementation of the embodiment of the present application, the first clamping module or the second clamping module includes a pair of claws and a worm gear;

[0023] The two groups of claws of a claw pair are opened and closed by the drive of two groups of worm gears. The worm wheels of the two groups of worm gears are fixed at the roots of the claws, and the worm gears of the two groups of worm gears are connected by the same shaft.

[0024] In one implementation of the embodiment of the present application, the driving module of the anchoring and traction robot includes a plurality of rotor mechanisms;

[0025] The plurality of rotor mechanisms are evenly distributed around the circumference with the first clamping module as the center, or are symmetrically distributed around the axis of the claw pair.

[0026] In one implementation of the embodiment of the present application, the driving module of the anchoring and traction robot further includes a spherical shell;

[0027] The rotor mechanism is arranged in a spherical shell, and the spherical shell is a hollow structure.

[0028] In one implementation of the embodiment of the present application, the load maintenance robot further includes a telescopic arm;

[0029] The second clamping module is mounted at the end of the telescopic arm.

[0030] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0031] In an embodiment of the present application, the cable climbing machine has a load inspection robot as the core and N anchoring traction robots as branches, forming a star topology. A traction rope is used to connect the load inspection robot and the anchoring traction robot, and a winch is used to roll out and reel in the traction rope. The anchoring traction robot can move on the cable and anchor at a predetermined position, forming an N-sided inspection area with the N anchoring traction robots as vertices. The load inspection robot moves in the N-sided inspection area under the pull of the traction rope to complete inspection and maintenance. Due to the use of N anchoring traction robots, the cable climbing robot of the embodiment of the present application has a high load capacity; due to the use of traction ropes and winches to achieve rope drive, the load inspection robot can move quickly and has high operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the working state of the cable climbing machine according to an embodiment of the present application;

[0033] Figure 2 is another schematic diagram of the working state of the cable climbing machine according to an embodiment of the present application;

[0034] Figure 3 is a perspective view of a winch of a cable climbing machine according to an embodiment of the present application;

[0035] Figure 4 is a perspective view of a palm-foot clamping module of a cable climbing machine according to an embodiment of the present application;

[0036] Figure 5 is a perspective view of an anchoring and traction robot of a cable climbing machine according to an embodiment of the present application;

[0037] Figure 6 is a perspective view of a load maintenance robot of a cable climbing machine according to an embodiment of the present application;

[0038] Figure 7 is another schematic diagram of the working state of the cable climbing machine according to an embodiment of the present application;

[0039] Reference numerals:

[0040] 1- Load maintenance robot;

[0041] 2-anchoring traction robot; 201-first anchoring traction robot; 202-second anchoring traction robot; 203-third anchoring traction robot; 204-fourth anchoring traction robot;

[0042] 3-cable;

[0043] 4-traction rope;

[0044] 5-Winches; 501-Reel; 502-Inlet and outlet structure; 503-First synchronous belt; 504-Bidirectional screw; 505-Adjusting nut; 506-Winches motor; 507-Slider; 508-Guide rail;

[0045] 61 - first clamping module; 62 - second clamping module; 601 - claw; 602 - flexible covering material; 603 - worm gear; 604 - second synchronous belt; 605 - clamping drive motor; 606 - reducer;

[0046] 7-Rope traction module; 8-Drive module; 9-Vision module; 10-Telescopic arm. DETAILED DESCRIPTION

[0047] The terms "first," "second," "third," "fourth," and the like in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0048] The key load-bearing components of cable-stayed bridges are the cables (3), which include stay cables, main cables, and suspension cables. These cables are typically constructed from multiple parallel steel wires or strands covered with a protective layer. One cause of internal cable 3 fracture damage is mechanical damage, aging, and other factors that damage the PE protective layer. This surface damage allows rainwater to penetrate the cable, causing rust to the wires. Furthermore, wind and rain vibrations cause friction and wear within the internal wire bundles, accelerating wire breakage.

[0049] Promptly identifying and repairing damage to the protective coating of bridge cables 3 will significantly reduce rainwater penetration, effectively extending the lifespan of cables 3 and reducing the frequency of cable 3 replacement. Currently, bridge cable 3 maintenance and inspection are primarily performed manually, often using a hanging basket mounted on the cables 3, carrying inspectors as they move along the cables. Cable 3 typically has protruding spiral water guides on its surface, and the hanging basket can easily cause secondary damage to the cable 3 protective coating. Some units use hydraulic lifts to carry personnel and equipment for inspections. These workstations require workers to operate at heights of hundreds of meters, creating harsh environments, heavy workloads, low efficiency, safety hazards, and traffic obstructions. Other units use drone inspections, but these are limited to remote photography and rough visual inspections of cable 3 surface defects. They cannot perform detailed inspections and repairs on the cable surface, and they can also present problems such as blind spots and interference with satellite positioning signals, placing extremely high demands on operators.

[0050] Regarding bridge safety supervision and maintenance, taking cable-stayed bridges as an example, existing cable inspection robots suffer from low inspection efficiency, limited load capacity, and inability to cross large obstacles on the cable surface. Therefore, the development of intelligent robotic equipment capable of autonomously climbing, inspecting, and repairing the extremely long cables of long-span bridges is a critical and pressing issue for the bridge maintenance industry, one with significant academic value and potential for innovation. The application of bridge cable inspection robots can significantly reduce worker risks, improve the efficiency and quality of bridge inspections, and reduce maintenance costs. These robots are crucial for long-term monitoring of the working condition of bridge cables, as well as for preventing and repairing defects.

[0051] To address the need for disease and damage inspection and repair of extremely long stay cables on long-span cable-stayed bridges, a bionic climbing bridge cable maintenance robot system with independent intellectual property rights has been developed. Featuring high speed, high load capacity, high reliability, full-coverage inspection, and autonomous local repair capabilities, this system addresses the need for autonomous inspection and maintenance of extremely long stay cables. Bridge maintenance personnel can remotely control the robot from the bridge deck, allowing it to climb and navigate obstacles on the cable. The robot carries inspection equipment to inspect the surface and interior of the cable, transmitting this data back to the control center for analysis and evaluation. The robot should also be able to carry specialized tools for repairing the PE protective layer of the cable, allowing it to perform local repairs on the cable. This provides an integrated service encompassing efficient initial inspection, damage assessment, and local repair of cables, making it a convenient tool for bridge inspection and improving the efficiency, accuracy, and safety of cable maintenance on long-span bridges.

[0052] like Figures 1 to 2 As shown, an embodiment of the present application provides a cable climbing machine, including: a load inspection robot 1, N anchoring traction robots 2, N winches 5 and N groups of traction ropes 4, N>2; N can take values ​​such as 3, 4, 5 or 6, and N=4 is taken as an example here for illustration.

[0053] The load maintenance robot 1 and each anchor traction robot 2 are connected by a set of traction ropes 4. A set of traction ropes 4 can be a single traction rope 4 or multiple traction ropes 4 that cooperate with each other. Here, the example of a set of traction ropes 4 being a single traction rope 4 is used for description.

[0054] N winches 5 are installed on the load maintenance robot 1 and / or the N anchor traction robots 2, and each winch 5 is used to reel in or unreel a set of traction ropes 4 to change the relative position of the load maintenance robot 1 and the N anchor traction robots 2. The N winches 5 can be installed on the load maintenance robot 1, or individually on each anchor traction robot 2. Alternatively, some can be installed on the load maintenance robot 1 and others on the anchor traction robots 2. The controllers of the multiple winches 5 communicate with each other, or the multiple winches 5 are controlled by the same controller to precisely control the relative position of the load maintenance robot 1 and the N anchor traction robots 2.

[0055] The anchoring and traction robot 2 includes a driving module 8 and a clamping module (referred to as a first clamping module 61 for easy distinction from other clamping modules). The driving module 8 is used to drive the anchoring and traction robot 2 to move to the preset position of the cable 3, and the first clamping module 61 is used to fix the anchoring and traction robot 2 at the preset position of the cable 3. The driving module 8 and the first clamping module 61 are fixedly connected. The driving module 8 provides power to enable the anchoring and traction robot 2 to reach the 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 61 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 necessary to change to the next preset position, the first clamping module 61 releases the cable 3, and the driving module 8 provides power to enable the anchoring and traction robot 2 to move to the next preset position.

[0056] When N anchoring and traction robots 2 are fixed at different preset positions along multiple cables 3, an N-polygonal maintenance area is formed with the N anchoring and traction robots 2 as vertices. N hoists 5 control the position of the load maintenance robot 1 within the N-polygonal maintenance area by winding or reeling in N sets of traction ropes 4, enabling the load maintenance robot 1 to perform maintenance on the cables 3 within the N-polygonal maintenance area. The N anchoring and traction robots 2 are fixed at N preset positions. Each of the N preset positions belongs to two or more cables 3. With the anchoring and traction robots 2 or the preset positions as vertices, an N-polygonal maintenance area is formed. As the N hoists 5 wind or reel in the N sets of traction ropes 4, the lengths of the traction ropes 4 that are unwound vary, causing the position of the load maintenance robot 1 to change. By controlling the lengths of the N traction ropes 4 that are unwound, the load maintenance robot 1 can be accurately dispatched and positioned, allowing it to move along a single cable 3 or from one cable 3 to another within the N-polygonal maintenance area.

[0057] In the embodiment of the present application, the cable climbing machine is centered around a load maintenance robot 1 and comprises N anchoring traction robots 2 as branches, forming a star topology. A traction rope 4 is used to connect the load maintenance robot 1 and the anchoring traction robot 2, and a winch 5 is used to roll out and reel in the traction rope 4. The anchoring traction robot 2 is capable of moving on the cable 3 and anchoring at a predetermined position, forming an N-sided maintenance area with the N anchoring traction robots 2 as vertices. The load maintenance robot 1 moves within the N-sided maintenance area under the pull of the traction rope 4 to complete inspection and maintenance. Due to the use of N anchoring traction robots 2, the cable climbing robot of the embodiment of the present application has a high load capacity; due to the use of traction ropes 4 and winches 5 to achieve rope drive, the load maintenance robot 1 can move quickly and has a high operating efficiency.

[0058] In one implementation of the embodiment of the present application, N anchoring and traction robots 2 are divided into two groups of anchoring and traction robots 2, and the two groups of anchoring and traction robots 2 each move along a cable 3. Different groups of anchoring and traction robots 2 move along different cables 3. The two cables 3 of the two groups of anchoring and traction robots 2 may be adjacent or non-adjacent.

[0059] In one implementation of the embodiment of the present application, the hoist 5 includes a hoisting motor 506, a reel 501, a wire inlet and outlet structure 502, an adjustment motor, a transmission member, a bidirectional screw 504 and an adjustment nut 505;

[0060] The output end of the hoisting motor 506 is connected to the reel 501, and the reel 501 rotates to reel in or unreel the traction rope 4. The hoisting motor 506 provides power to drive the reel 501 to rotate to reel in or unreel the traction rope 4.

[0061] The output of the adjustment motor is connected to the input of the transmission member, and the output of the transmission member is connected to a bidirectional screw 504. Bidirectional screw 504 is often referred to as a reciprocating screw shaft, horizontal screw shaft, reciprocating screw, bidirectional screw shaft, or self-reversing screw. Bidirectional screw 504 can be used in cable reels for various winches, as well as various water wheels and pipe reels for various coiled tubing vehicles. Cable and pipe reels with bidirectional screw 504 can evenly and orderly wind cables, hoses, and coiled tubing onto reel 501, thereby improving the technical level of the equipment. Using bidirectional screw 504 can reduce damage to the traction rope 4 and extend its service life.

[0062] The adjustment nut 505 cooperates with the bidirectional screw 504. When the bidirectional screw 504 rotates in the same direction, the adjustment nut 505 reciprocates along the axis of the bidirectional screw 504. A predetermined distance is defined between the two ends of the reciprocating motion. The predetermined distance is less 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 reel 501, thereby preventing the traction rope 4 from being unable to be reeled into the reel 501.

[0063] The first end of the access port structure 502 is fixedly connected to the adjustment nut 505, and the traction rope 4 passes through the access port structure 502. The traction rope 4 passes through the access port structure 502, so that the access port structure 502 can drive the traction rope 4 to move along the bidirectional screw 504 along with the adjustment nut 505.

[0064] In one implementation of the embodiment of the present application, the hoist 5 further includes a slider 507 and a guide rail 508;

[0065] The guide rail 508 is arranged parallel to the bidirectional screw 504. The second end of the wire inlet and outlet structure 502 is fixedly connected to the slider 507. The slider 507 can slide along the guide rail 508, so that the wire inlet and outlet structure 502 can move between the guide rail 508 and the bidirectional screw 504. The bidirectional screw 504 cooperates with the slider 507 and the guide rail 508 to produce precise reciprocating motion, so that the traction rope 4 is more evenly wound on the reel 501.

[0066] In one implementation of the present invention, the hoisting motor 506 and the adjustment motor are the same motor. By connecting the output end of the motor to the input end of the transmission member and the reel 501 at the same time, and setting the transmission ratio of the transmission member, the motor can be used as both the hoisting motor 506 and the adjustment motor.

[0067] like Figure 3 As shown, the hoist 5 consists of a hoisting motor 506, a reel 501, a first synchronous belt 503, and a bidirectional screw 504. The hoisting motor 506 transmits power to the reel 501, which rotates to reel in and out the traction rope 4. Simultaneously, the traction rope 4 enters or exits the line through the access port 502. Simultaneously, the hoisting motor 506 transmits power to the first synchronous belt 503 speed reduction mechanism, which in turn drives the bidirectional screw 504 to rotate. The bidirectional screw 504, in turn, drives the access port 502 back and forth. This design ensures that the ropes are evenly distributed on the reel 501, preventing any localized entanglements.

[0068] In one implementation of the embodiment of the present application, the load maintenance robot 1 further includes a clamping module (in order to distinguish it from the clamping module installed on the anchoring robot, the clamping module installed on the load maintenance robot 1 may be referred to as a second clamping module 62 );

[0069] The second clamping module 62 is used to anchor the payload inspection robot 1 to the cable 3. The second clamping module 62 can clamp the cable 3, securing the payload inspection robot 1 to the cable 3. When the payload inspection robot 1 needs to perform detailed inspection or maintenance on a specific location on the cable 3, the second clamping module 62 clamps the cable 3 to prevent swaying caused by positioning the traction rope 4 alone.

[0070] In one implementation of the embodiment of the present application, the first clamping module 61 or the second clamping module 62 includes a pair of claws and a worm gear 603;

[0071] The two sets of claws 601 in a claw pair open and close under the drive of two sets of worm gears 603. The worm wheels of the two worm gears 603 are fixed to the base of the claws 601, and the worms of the two worm gears 603 are connected by a common shaft. The input end of the worms is connected to the output end of the motor. The common shaft connection of the worm gears 603 allows the two sets of claws 601 in a claw pair to open and close synchronously. The surface of the claws 601 can be covered with a flexible covering material 602 to prevent damage to the cable 3.

[0072] like Figure 4 As shown, the first clamping module 61 and the second clamping module 62 are both palm-foot clamping modules. The palm-foot clamping modules primarily consist of a pair of grippers, a gripping drive motor 605, and two symmetrical transmission systems. The gripping pair includes two sets of grippers 601, each consisting of one gripper 601. To increase the frictional force when the gripping pair grips the surface of the cable 3, the surface of the grippers 601 contacting the cable 3 is covered with a flexible covering material 602. The transmission system utilizes a three-stage transmission mechanism to transfer energy and force from the output of the gripping drive motor 605: a planetary transmission of the reducer 606, a second synchronous belt 604, and a worm gear 603. The output of the gripping drive motor 605 is connected to the input of the planetary transmission of the reducer 606, which is then connected to the input of the worm gear 603 via the second synchronous belt 604. The worm gear 603 is used in the final transmission joint. Due to the self-locking nature of the worm gear transmission, the gripper pair cannot be retracted. This means that the gripper pair can maintain the joint position without changing direction even when not driven by the gripping drive motor 605. This design offers significant energy savings, particularly when the robot is held in a specific position. The gripping drive motor 605 can be deactivated, reducing energy consumption, while the robot itself remains securely anchored to the cable 3. The use of the palm-foot gripping module enables the payload maintenance robot 1 to carry extremely large amounts of maintenance equipment.

[0073] In one implementation of the embodiment of the present application, the driving module 8 of the anchoring and traction robot 2 includes a plurality of rotor mechanisms;

[0074] Multiple rotor mechanisms are evenly distributed around the circumference of the first clamping module 61, that is, multiple rotor mechanisms are distributed at the vertices of a regular polygon, and the first clamping module 61 is located at the center of the circumscribed circle of the regular polygon; or they are symmetrically distributed around the axis of the claw pair. When the claw pair clamps the cable 3, the axis of the claw pair is parallel to or coincides with the axis of the cable 3.

[0075] In one implementation of the embodiment of the present application, the driving module 8 of the anchoring and traction robot 2 further includes a spherical shell;

[0076] The rotor mechanism is arranged in a spherical shell, which is a hollow structure. The spherical shell can protect the rotor mechanism and prevent the rotor mechanism from colliding with the cable 3 and the like.

[0077] In one implementation of the embodiment of the present application, the load maintenance robot 1 further includes a telescopic arm 10;

[0078] The second clamping module 62 is mounted at the end of the telescopic arm 10. The second clamping module 62 can be extended or retracted along with the telescopic arm 10. When the payload inspection robot 1 needs to move within the N-gon inspection area, the telescopic arm 10 is retracted. When the payload inspection robot 1 needs to be fixed at a specific location for inspection or maintenance, the telescopic arm 10 is extended, allowing the second clamping module 62 to clamp the cable 3.

[0079] In order to better understand the structure of the cable climbing machine, N=4 is used as an example for explanation. The cable climbing machine of the embodiment of the present application has a movable anchor point and adopts parallel rope drive. The cable climbing machine is composed of three parts: a load maintenance robot 1 carrying maintenance equipment, four anchoring traction robots 2, and a traction guide system between the load maintenance robot 1 and the anchoring traction robot 2. The traction guide system includes a traction rope 4 and a winch 5. The traction rope 4 can be a steel wire rope. The anchoring traction robot 2 carries a first clamping module 61 with a high load. The anchoring traction robot 2 can be moved to a designated position to self-lock and form an anchor point. The load maintenance robot 1 carrying maintenance equipment is also provided with a second clamping module 62 with a high load. The first clamping module 61 and the second clamping module 62 can be palm-foot clamping modules.

[0080] The load maintenance robot 1 and the anchoring and traction robot 2 are connected by steel wire ropes. Four anchoring and traction robots 2 are mounted on two cables 3, with 3-5 cables 3 between them. One anchoring and traction robot 2 is released every 20-30 meters from each cable 3. Thus, when the four anchoring and traction robots 2 are anchored to the cables 3 at regular intervals, the four anchor points can be arranged into a quadrilateral maintenance area. Through steel wire rope traction and lifting, the load maintenance robot 1's workspace can cover this quadrilateral maintenance area. The load maintenance robot 1 can quickly scan and inspect the cables 3 within this quadrilateral area to identify possible defects. When the load maintenance robot 1 detects an abnormal defect at a specific point, it moves to the corresponding position, then uses its built-in second clamping module 62 to grip the cable 3 before further repairing the cable 3. When the cable 3 within the quadrilateral maintenance area is complete, the four anchoring and traction robots 2 release their first clamping modules 61 and move forward along the axial direction of the cable 3, forming a new quadrilateral maintenance area. After the traction and anchoring robots are anchored, the winch 5 pulls the load maintenance robot 1 to the new quadrilateral maintenance area for further maintenance work. This reciprocating process continues until it reaches the top of the cable 3 of the cable-stayed bridge.

[0081] like Figure 5 As shown, the anchoring and traction robot 2 primarily consists of a first gripping module 61, a vision module 9, a rope pulling module 7, a drive module 8, and a drone frame. The drive module 8 comprises a spherical housing, propeller blades, a rotor motor, and a motor mount. The rotor motor drives the propeller blades to rotate at high speed, generating lift that propels the anchoring and traction robot 2 upward. The spherical housing effectively protects the propeller blades from collisions with the external environment. The hollow structure of the spherical housing allows for air convection, providing lift. The first gripping module 61 is mounted directly above the drone frame. It has yaw angular freedom relative to the drone frame to adjust the position of the cable 3. Once the anchoring and traction robot 2 is hovering, it can adjust the position of the first gripping module 61 to securely grip the cable 3. The vision module 9 guides the anchoring and traction robot 2 and the first gripping module 61 to the desired position during the gripping process, thereby securing the cable 3. The rope pulling module 7 includes a pulley around which the traction rope 4 is wound. The drive module 8 can also be called a rotor drive module. The spherical housing can also be called a roller circular housing or a roller spherical housing. The anchored traction mobile robot can also be called a cable 3 anchored mobile robot. The visual module 9 can also be called a visual perception module or a visual guidance module.

[0082] like Figure 6As shown, the load maintenance robot 1 consists of a second clamping module 62, a telescopic arm 10, a vision module 9 and a frame. The winch 5 is fixedly installed on the load maintenance robot 1. The load maintenance robot 1 has no mobility by itself, and its movement requires the help of four winches 5 and four traction ropes 4 on its body. When the load maintenance robot 1 traverses the quadrilateral maintenance area formed by the four anchoring traction robots 2, the vision module 9 performs synchronous rapid visual inspection on the surface of the cable 3 in the area. When the load maintenance robot 1 finds that there is a defect on the surface of the cable 3, the telescopic arm 10 of the load maintenance robot 1 will unfold toward the cable 3, and use the second clamping module 62 carried by the telescopic arm 10 to hold the cable 3 tightly, and conduct further precision inspection and repair work on the diseased area. The telescopic arm 10 can also be called a telescopic robotic arm. The load maintenance robot 1 can also be called a cable 3 maintenance robot, a cable 3 load maintenance robot 1 or a maintenance robot.

[0083] The present embodiment accomplishes the maintenance of extra-long cables 3 by forming a multi-machine group collaboration. Its main feature is that it is based on a traditional parallel rope-driven robot, but its anchor point is designed to be movable, greatly expanding the robot's detection range and workspace. It retains the high load capacity, low inertia, high scalability, and high fault tolerance characteristics of the parallel rope-driven robot. Because the maintenance robot can simultaneously cross multiple cables 3 to perform maintenance work and does not come into contact with the surface of the cables 3 during movement, the robot's obstacle-crossing capability and maintenance efficiency are greatly improved.

[0084] In order to better understand the working process of the cable climbing machine, such as Figure 7 As shown, the cable climbing machine motion mode is analyzed as follows:

[0085] Step 1: Online preparation: The first anchoring and traction robot 201, the second anchoring and traction robot 202, the third anchoring and traction robot 203, and the fourth anchoring and traction robot 204 approach the cable 3 respectively. The first anchoring and traction robot 201 maintains a certain distance from the second anchoring and traction robot 202; the third anchoring and traction robot 203 maintains a certain distance from the fourth anchoring and traction robot 204;

[0086] Step 2: Start the clamping motors of the first clamping modules 61 of the first anchoring and traction robot 201, the second anchoring and traction robot 202, the third anchoring and traction robot 203 and the fourth anchoring and traction robot 204, and anchor the first anchoring and traction robot 201, the second anchoring and traction robot 202, the third anchoring and traction robot 203 and the fourth anchoring and traction robot 204 on the surface of the cable 3 respectively; the first anchoring and traction robot 201, the second anchoring and traction robot 202, the third anchoring and traction robot 203 and the fourth anchoring and traction robot 204 can automatically anchor after reaching the preset position of the cable 3, and do not need manpower to install them on the cable 3.

[0087] Step 3: Start the hoisting motor 506 of the hoist 5, and the four traction ropes 4 pull the load maintenance robot 1 to traverse the surface of the cable 3 in the quadrilateral maintenance area for maintenance;

[0088] Step 4: After the load inspection robot 1 completes the inspection, the telescopic arm 10 of the load inspection robot 1 extends, driving the second clamping module 62 to the cable 3, and starting the clamping drive motor 605 of the second clamping module 62 to anchor the load inspection robot 1 to the cable 3;

[0089] Step 5: Start the clamping drive motor 605 of the first clamping module 61 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 detach 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 from the cable 3 respectively, and move one step in the movement direction 1, and re-anchor them on the cable 3; the movement direction 1 is the upward direction along the axis of the cable 3, and the movement direction 2 is the downward direction perpendicular to the axis of the cable 3. Different cables 3 have different movement directions 1 and movement directions 2.

[0090] Step 6: The second gripping module 62 of the load inspection robot 1 disengages the cable 3, the telescopic arm 10 retracts, and the four traction ropes 4 pull the load inspection robot 1 in the movement direction 1, and the third step is repeated;

[0091] Step 7: When the first anchoring and traction robot 201 and the third anchoring and traction robot 203 reach the top of the cable-stayed bridge and complete the maintenance of the cables 3 in the quadrilateral maintenance area, the first anchoring and traction robot 201, the second anchoring and traction robot 202, the third anchoring and traction robot 203, and the fourth anchoring and traction robot 204 follow a similar process to move in motion direction 2, anchor to a new cable 3, and then move in the opposite direction of motion direction 1 to perform maintenance. This reciprocating cycle continues until the load maintenance robot 1 has completed the maintenance of all cables 3 on the bridge.

[0092] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cable climbing machine, characterized in that: include: A load maintenance robot (1), N anchoring and traction robots (2), N winches (5) and N sets of traction ropes (4), N>2; The load maintenance robot (1) and each of the anchoring and traction robots (2) are respectively connected via a set of traction ropes (4); N of the hoists (5) are provided on the load maintenance robot (1) and / or the N anchoring and traction robots (2), and each of the hoists (5) is used to reel in or unreel a set of traction ropes (4) to change the relative position of the load maintenance robot (1) and the N anchoring and traction robots (2); The anchoring and traction robot (2) comprises a driving module (8) and a first clamping module (61), wherein the driving module (8) is used to drive the anchoring and traction robot (2) to move to a preset position of the cable (3), and the first clamping module (61) is used to fix the anchoring and traction robot (2) at the preset position of the cable (3); When N anchoring and traction robots (2) are respectively fixed at different preset positions of the plurality of cables (3), an N-sided maintenance area is formed with the N anchoring and traction robots (2) as vertices, and the N winches (5) control the position of the load maintenance robot (1) within the N-sided maintenance area by winding or reeling in the N groups of traction ropes (4), so that the load maintenance robot (1) can inspect the cables (3) within the N-sided maintenance area.

2. The cable climbing machine according to claim 1, wherein: The N anchoring and traction robots (2) are divided into two groups of anchoring and traction robots (2), and the two groups of anchoring and traction robots (2) respectively move along one of the cables (3).

3. The cable climbing machine according to claim 1, wherein: The hoist (5) comprises a hoisting motor (506), a reel (501), a wire inlet and outlet structure (502), an adjustment motor, a transmission member, a bidirectional screw (504) and an adjustment nut (505); The output end of the hoisting motor (506) is connected to the reel (501), and the reel (501) rotates to reel in or unreel the traction rope (4); The output end of the adjustment motor is connected to the input end of the transmission member, and the output end of the transmission member is connected to the bidirectional screw (504); The adjusting nut (505) cooperates with the bidirectional screw (504), and when the bidirectional screw (504) rotates in the same direction, the adjusting nut (505) reciprocates along the axis of the bidirectional screw (504), with a preset distance between the two ends of the reciprocating motion, and the preset distance is less than or equal to the axial thickness of the reel (501); The first end of the wire access port structure (502) is fixedly connected to the adjustment nut (505), and the traction rope (4) passes through the wire access port structure (502).

4. The cable climbing machine according to claim 3, wherein: The hoist (5) further includes a slider (507) and a guide rail (508); The guide rail (508) is arranged parallel to the bidirectional screw (504), and the second end of the wire inlet and outlet structure (502) is fixedly connected to the slider (507), and the slider (507) can slide along the guide rail (508) so that the wire inlet and outlet structure (502) can move between the guide rail (508) and the bidirectional screw (504).

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

6. The cable climbing machine according to claim 1, wherein: The load maintenance robot (1) further includes a second clamping module (62); The second clamping module (62) is used to anchor the load maintenance robot (1) to the cable (3).

7. The cable climbing machine according to claim 6, wherein: The first clamping module (61) or the second clamping module (62) comprises a pair of claws and a worm gear (603); The two groups of claws (601) of a claw pair are opened and closed under the drive of the two groups of worm gears (603), the worm wheels of the two groups of worm gears (603) are fixed at the roots of the claws (601), and the worm gears of the two groups of worm gears (603) are connected by the same shaft.

8. The cable climbing machine according to claim 7, wherein: The driving module (8) of the anchoring and traction robot (2) includes a plurality of rotor mechanisms; The plurality of rotor mechanisms are evenly distributed around the first clamping module (61) as the center, or are symmetrically distributed around the axis of the claw pair.

9. The cable climbing machine according to claim 8, wherein: The driving module (8) of the anchoring and traction robot (2) further includes a spherical shell; The rotor mechanism is arranged in the spherical shell, and the spherical shell is a hollow structure.

10. The cable climbing machine according to claim 6, wherein: The load maintenance robot (1) further includes a telescopic arm (10); The second clamping module (62) is mounted at the end of the telescopic arm (10).

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