Dual walking mode flat tail rope climbing robot

Abstract

The present invention discloses a dual-walking mode flat-tail rope climbing robot. The dual-walking mode flat-tail rope climbing robot comprises: a wheeled crawling mechanism, a stepping crawling mechanism and a detection device, wherein the wheeled crawling mechanism is arranged on a first frame; the stepping crawling mechanism is arranged on a second frame, and the first frame and the second frame are connected by a telescopic mechanism; the detection device is arranged on the first frame. The dual-walking mode flat-tail rope climbing robot of the embodiment of the present invention can switch between the wheeled crawling mode and the stepping crawling mode to adapt to different working conditions, and can use a variety of non-destructive testing equipment carried by itself to efficiently and accurately perform non-destructive testing on the flat-tail rope.

Description

Technical Field

[0001] The invention belongs to the technical field of special robots for mines, and in particular relates to a flat-tail rope climbing robot with double walking modes. Background Art

[0002] The tail rope is an important part of the multi-rope friction wheel hoisting system of the coal mine shaft. Its two ends (the hoisting container is generally designed to be equipped with two tail ropes) are connected and suspended at the bottom of two hoisting containers (such as the auxiliary shaft cage or the main shaft bucket), forming a circular operation system composed of hoisting rope, hoisting container, tail rope, hoisting container, and hoisting rope. The tail rope plays a balancing role in this hoisting system, so the state of the tail rope is crucial to the safe and stable operation of the mine. The traditional wire rope inspection method is mainly manual. Now robots are gradually replacing manual labor and carrying non-destructive testing equipment to inspect the wire rope. At present, there are many wire rope climbing robots, such as the intelligent wire rope flaw detection climbing robot with a magnetic anti-fall system with patent authorization number CN113525544B, which moves along the wire rope through the upper drive system and the lower drive system. In the process of moving along the wire rope, the wire rope is inspected by the flaw detection system. For example, the magnetic adsorption type mine wire rope inspection robot with patent authorization number CN112960043B uses the adsorption detection device on the crawler to realize the movement of the mine wire rope inspection robot relative to the wire rope, and detects the broken wire of the wire rope through the adsorption detection device to eliminate the hidden dangers of accidents caused by broken wire. For example, a wire rope defect inspection mechanism with patent application number 201711344357.1 combines a camera system with an electromagnetic detection device to conduct a comprehensive inspection of the wire rope.

[0003] However, the above robots are all designed for round wire ropes, and there are few studies on robots suitable for flat tail rope detection. Compared with traditional round tail ropes, flat tail ropes are absolutely non-rotatable. When the wire cross-section is the same, the flat tail rope has the smallest sheave diameter, the lightest lifting equipment, low energy consumption, low cost, large contact area with the sheave, high wear resistance, uniform force, and few faults in use. Therefore, flat tail ropes play an important role in some mines. There are many reasons for the damage of flat tail ropes, such as: rust damage; mechanical damage; floating knots; improper installation; wear damage, etc., and because the rope state is related to the safe and stable operation of the mine, there is a need for an efficient detection device for flat tail ropes. Flat tail ropes and round tail ropes are essentially different in structure, and existing wire rope flaw detection robots cannot operate effectively on flat tail ropes. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, an embodiment of the present invention proposes a double walking mode flat-tail rope climbing robot, which can climb along the flat-tail rope safely and stably, has a certain adaptability to rope diameters within a certain range, and can carry various equipment to perform flaw detection and maintenance on the flat-tail rope.

[0005] According to an embodiment of the present invention, a double walking mode flat-tail rope climbing robot includes: a wheeled crawling mechanism, which is arranged on a first frame; a stepping crawling mechanism, which is arranged on a second frame, and the first frame and the second frame are connected by a telescopic mechanism; and a detection device, which is arranged on the first frame.

[0006] The dual walking mode flat-tail rope climbing robot of the embodiment of the present invention can switch between the wheeled crawling mode and the stepping crawling mode to adapt to different working conditions, and can use the various non-destructive testing equipment it carries to perform non-destructive testing on the flat-tail rope efficiently and accurately.

[0007] Optionally, the telescopic mechanism includes a slider, a guide rod and a vertical electric push rod, the slider and the vertical electric push rod are arranged on the outer surface of the first frame, the free ends of the guide rod and the vertical electric push rod are arranged on the outer surface of the second frame, and the slider cooperates with the guide rod.

[0008] Optionally, the first rack includes a rack A and a rack B, and the second rack includes a rack C and a rack D. The cross-sectional shapes of the rack A, the rack B, the rack C, and the rack D are all L-shaped, and all include a main panel and a side panel. The main panel A of the rack A is hinged to the side panel B of the rack B, and the main panel C of the rack C is hinged to the side panel D of the rack D.

[0009] Optionally, it further includes a guiding mechanism, there are two guiding mechanisms, the two guiding mechanisms are respectively arranged on the inner side of the side plate A of the frame A and the inner side of the side plate B of the frame B, the guiding mechanism includes a guide wheel frame, the guide wheel frame and the first frame are connected by four connecting rods A, the first frame, the guide wheel frame and the connecting rods A form a parallelogram mechanism, a group of cross-arranged guide wheels are respectively arranged on the upper and lower parts of the guide wheel frame, an electric push rod A is also arranged between the guide wheel frame and the first frame, and the free end of the electric push rod A is arranged on the back side of the guide wheel frame.

[0010] Optionally, the wheeled crawling mechanism includes a driving wheel assembly, the driving wheel assembly includes a driving wheel frame, the driving wheel frame and the main panel A of the frame A are connected by four connecting rods B, the driving wheel frame, the frame A and the connecting rods B form a parallelogram mechanism, a driving wheel and a driving motor are respectively arranged at the upper end and the lower end of the driving wheel frame, the driving wheel is connected to the driving motor, and an electric push rod B is also arranged between the driving wheel frame and the main panel A of the frame A, and the free end B of the electric push rod B is arranged on the back side of the driving wheel frame.

[0011] Optionally, the wheeled crawling mechanism further includes a tensioning wheel assembly, which includes a tensioning wheel, a shock absorber and an electric push rod C, the shock absorber and the free end C of the electric push rod C are hinged through the tensioning wheel, and the fixed ends of the shock absorber and the electric push rod C are respectively hinged to the frame B.

[0012] Optionally, the driving wheel comprises a central axis, a flexible column and wear-resistant particles, the central axis penetrates the flexible column along the axial direction, and the wear-resistant particles are arranged on the outer peripheral surface of the flexible column.

[0013] Optionally, there are two step-by-step crawling mechanisms, which are respectively arranged on the inner side of the main panel C of the frame C and the inner side of the main panel D of the frame D. The step-by-step crawling mechanism includes a clamping plate, and the clamping plate is connected to the second frame through a spring clamping device and an electric push rod D. One end of the spring clamping device is hinged to the clamping plate, and the other end is hinged to the second frame. The free end of the electric push rod D is hinged to the clamping plate, and the fixed end of the electric push rod D is hinged to the second frame.

[0014] Optionally, the step-by-step crawling mechanism further includes a retaining steel wire, wherein there are two retaining steel wires, one end of the retaining steel wire is arranged on the second frame, and the other end of the retaining steel wire is arranged on the clamping plate, and the two retaining steel wires are respectively arranged at both ends of the clamping plate.

[0015] Optionally, a detection equipment mounting frame is provided on the first frame, the detection equipment is arranged on the detection equipment mounting frame, the detection equipment mounting frame is arranged below the driving wheel frame, the detection equipment mounting frame is a hollow quadrangular prism, and the cavity of the detection equipment mounting frame cooperates with the flat tail rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of a flat-tail rope climbing robot in a dual walking mode according to an embodiment of the present invention.

[0017] Figure 2 1 is an expanded view of a flat-tail rope climbing robot in a dual walking mode according to an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of the structure of the guide mechanism of the embodiment of the present invention.

[0019] Figure 4 It is a side structural schematic diagram of the wheeled crawling mechanism according to an embodiment of the present invention.

[0020] Figure 5 It is a structural schematic diagram of the wheeled crawling mechanism of an embodiment of the present invention.

[0021] Figure 6 2 is a schematic diagram of the driving wheel structure of an embodiment of the present invention.

[0022] Figure 7 Schematic diagram of the structure of the step-by-step crawling module according to an embodiment of the present invention

[0023] Figure 8 The back structure diagram of the step-by-step crawling module according to the embodiment of the present invention is as follows

[0024] Reference numerals:

[0025] Dual walking mode flat tail rope climbing robot 800;

[0026] First rack 1; rack A 101; rack B 102; slider 103; vertical electric push rod 104;

[0027] Guide mechanism 2; electric push rod A 201; connecting rod A 202; guide wheel frame 203; guide wheel 204;

[0028] Wheeled crawling mechanism 3; connecting rod B 301; electric push rod B 302; driving wheel frame 303; driving wheel 304; central shaft 3041; flexible column 3042; wear-resistant particles 3043; driving motor 305; electric push rod C 311; tension wheel 312; shock absorber 313;

[0029] Step-type crawling mechanism 4; electric push rod D 401; spring clamping device 402; clamping plate 403; retaining wire 404;

[0030] Second frame 5; frame C 501; frame D 502; guide rod 503;

[0031] Monitoring equipment mounting frame 6. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0033] like Figure 1-Figure 8As shown, the double walking mode flat tail rope climbing robot 800 according to the embodiment of the present invention includes a wheeled crawling mechanism 3, a stepping crawling mechanism 4 and a detection device, wherein the wheeled crawling mechanism 3 is arranged on the first frame 1, and the stepping crawling mechanism 4 is arranged on the second frame 5, and the first frame 1 and the second frame 5 are connected by a telescopic mechanism. In other words, the stepping crawling mechanism 4 on the second frame 5 can drive the first frame 1 to move through the telescopic mechanism, or the first frame 1 can drive the second mechanism 5 to move through the telescopic mechanism. The wheeled crawling mechanism 3 and the stepping crawling mechanism 4 are both matched with the flat tail rope, and the wheeled crawling mechanism 3 and the stepping crawling mechanism 4 can move along the flat tail rope. The detection device is arranged on the first frame 1, and the detection device is matched with the flat tail rope, that is, when the first frame 1 moves, the detection device will perform flaw detection, maintenance and other work on the flat tail rope as the first frame 1 moves.

[0034] Reference below Figure 1-Figure 8 The working process of the double walking mode flat tail rope climbing robot 800 is briefly described. When the flat tail rope is in low oil pollution condition, the double walking mode flat tail rope climbing robot 800 uses the wheeled crawling mechanism 3 to walk on the flat tail rope, and at the same time, the flat tail rope is tested by the detection equipment; when the flat tail rope is in heavy oil pollution condition, the double walking mode flat tail rope climbing robot 800 uses the stepping crawling mechanism 4 to make the double walking mode flat tail rope climbing robot 800 walk on the flat tail rope through the cooperation of the telescopic mechanism and the first frame 1, and at the same time, the flat tail rope is tested by the detection equipment.

[0035] The dual-walking mode flat-tail rope climbing robot 800 of the embodiment of the present invention can switch between a wheeled crawling mechanism and a stepping crawling mechanism to adapt to different working conditions, and can use a variety of non-destructive testing equipment it carries to perform non-destructive testing on the flat-tail rope efficiently and accurately.

[0036] like Figure 1-Figure 8 As shown, the double walking mode flat-tail rope climbing robot 800 includes a wheeled crawling mechanism 3, a stepping crawling mechanism 4 and a detection device. The wheeled crawling mechanism 3 is arranged on the first frame 1, and the stepping crawling mechanism 4 is arranged on the second frame 5. The first frame 1 and the second frame 5 are connected by a telescopic mechanism. The first frame 1 includes a frame A 101 and a frame B 102, and the second frame 5 includes a frame C 501 and a frame D 502. The cross-sectional shapes of the frames A 101, B 102, C 501 and D 502 are all L-shaped, and all include a main panel and a side panel. That is, the frame A 101 includes a main panel A and a side panel A, the frame B 102 includes a main panel B and a side panel B, the frame C 501 includes a main panel C and a side panel C, and the frame D 502 includes a main panel D and a side panel D.

[0037] The telescopic mechanism includes a slider 103, a guide rod 503 and a vertical electric push rod 104. The sliders 103 are arranged in groups of two, a total of four groups, and are installed on the outer surfaces of the main panel A of the rack A 101 and the main panel B of the rack B 102; there are four guide rods 503, which are installed on the outer surfaces of the main panel C of the rack C 501 and the main panel D of the rack D 502, and the sliders 103 and the guide rods 503 cooperate, and the sliders 103 can move along the guide rods 503; the vertical electric push rods 104 are arranged on the outer surface of the main panel B of the rack B 102 of the first rack 1, and the free ends of the vertical electric push rods 104 are arranged on the rack D of the second rack 5 On the outer surface of the main panel D of 502, the extension and contraction of the free end of the vertical electric push rod 104 can move the second frame 5 relative to the first frame 1, and the extension and contraction of the free end of the vertical electric push rod 104 can also move the first frame 1 relative to the second frame 5, and at the same time, the slider 103 moves relatively on the guide rod 503. Specifically, when the second frame is required to drive the first frame to move upward, the extension of the free end of the vertical electric push rod 104 can move the second frame 5 upward relative to the first frame 1, and the contraction of the free end of the vertical electric push rod 104 can move the first frame 1 upward relative to the second frame 5.

[0038] The main panel A of the rack A 101 is hinged to the side panel B of the rack B 102, that is, the rack A 101 and the rack B 102 are connected by the hinge A, and the rack A 101 and the rack B 102 can rotate around the hinge of the hinge A to achieve free opening and closing; the main panel C of the rack C 501 is hinged to the side panel D of the rack D 502, that is, the rack C 501 and the rack D 502 are connected by the hinge B, and the rack C 501 and the rack D 502 can rotate around the hinge of the hinge B, and can cooperate with the rack A 101 and the rack B 102 to achieve opening and closing. When the first frame 1 and the second frame 5 are installed on the flat tail rope at the bottom of the hoist, the side plate A of the frame A 101 and the main panel B of the frame B 102 are fixedly connected by bolts; the side plate C of the frame C 501 and the main panel D of the frame D 502 are fixedly connected by bolts.

[0039] The wheeled crawling mechanism 3 includes a driving wheel assembly, which includes a driving wheel frame 303. The driving wheel frame 303 is connected to the main panel A of the frame A 101 by four connecting rods B 301. The driving wheel frame 303, the frame A 101 and the four connecting rods B 301 form a parallelogram mechanism, so that the driving wheel frame 303 can maintain the extension and retraction of the vertical state. An electric push rod B 302 is also arranged between the driving wheel frame 303 and the main panel A of the frame A 101. The free end B of the electric push rod B 302 is arranged on the back of the driving wheel frame 303. The extension and retraction of the driving wheel frame 303 are controlled by the extension and retraction of the electric push rod B 302. A driving wheel 304 and a driving motor 305 are respectively arranged at the upper end and the lower end of the driving wheel frame 303. The driving wheel 304 is connected to the driving motor 305, and the driving motor 305 drives the driving wheel 304 to rotate. The driving wheel 304 includes a central axis 3041, a flexible column 3042 and wear-resistant particles 3043. The central axis 3041 penetrates the flexible column 3042 in the axial direction, and the wear-resistant particles 3043 are arranged on the outer peripheral surface of the flexible column 3042. The flexible column 3042 and the central axis 3041 are fixedly connected, that is, the rotation of the central axis 3041 will drive the rotation of the flexible column 3042, and also drive the rotation of the wear-resistant particles 3043. The driving wheel 304 has wear resistance and flexibility. When the driving wheel 304 is squeezed, the flexible column 3042 will be deformed, increasing the contact area between the driving wheel 304 and the flat tail rope, thereby increasing the friction force.

[0040] The wheeled crawling mechanism 3 further includes a tensioning wheel assembly, which includes a tensioning wheel 312, a shock absorber 313 and an electric push rod C 311. There are two groups of shock absorbers 313 and electric push rods C 311. One end of each group of shock absorbers 313 and the free end C of the electric push rod C 311 are hinged through the tensioning wheel 312, and the other ends of the shock absorber 313 and the electric push rod C 311 are respectively hinged to the frame B 102. The extension and contraction of the free end C of the electric push rod C 311 can drive the tensioning wheel 312 to rotate around the hinge between the shock absorber 313 and the frame B 102, thereby realizing the extension and contraction of the tensioning wheel 312 in the horizontal direction. The extension and contraction of the tensioning wheel 312 and the driving wheel frame 303 can adapt to flat tail ropes of different specifications in thickness.

[0041] The double walking mode flat tail rope climbing robot 800 further includes a guide mechanism 2, and there are two guide mechanisms 2. The two guide mechanisms 2 are respectively arranged on the inner side of the side plate A of the frame A 101 and the inner side of the side plate B of the frame B 102. The guide mechanism 2 includes a guide wheel frame 203, and a group of cross-arranged guide wheels 204 are respectively arranged on the upper and lower parts of the guide wheel frame 203. Each group of guide wheels 204 has two guide wheels, and the two guide wheels 204 of each group are cross-arranged at 90 degrees, and the two guide wheels 204 of each group may not be on the same horizontal plane, or may be on the same horizontal plane. The guide wheel frame 203 is connected to the first frame 1 by four connecting rods A. The first frame 1, the guide wheel frame 203 and the four connecting rods A 202 form a parallelogram mechanism, so that the guide wheel frame 203 can maintain the extension and retraction of the vertical posture. An electric push rod A 201 is also provided between the guide wheel frame 203 and the first frame 1. The free end of the electric push rod A 201 is provided on the back of the guide wheel frame 203. The extension and retraction of the electric push rod A 201 can control the extension and retraction of the guide wheel frame 203. The extension and retraction of the guide wheel frame 203 can adapt to flat tail ropes of different specifications in width.

[0042] There are two step-by-step crawling mechanisms 4, which are respectively arranged on the inner side of the main panel C of the frame C 501 and the inner side of the main panel D of the frame D 502. The step-by-step crawling mechanism 4 includes a clamping plate 403, a spring clamping device 402 and an electric push rod D 401. The clamping plate 403 and the second frame 5 are connected through the spring clamping device 402 and the electric push rod D 401. One end of the spring clamping device 402 is hinged to the clamping plate 403, and the other end is hinged to the second frame 5. The spring clamping device 402 includes two springs arranged side by side, one end of the spring is hinged to the upper back side of the clamping plate 403, and the other end of the spring is connected to the second frame 5. The free end of the electric push rod D 401 is hinged to the clamping plate 403, and the fixed end of the electric push rod D 401 is hinged to the second frame 5. The free end of the electric push rod D 401 is arranged at the lower back side of the clamping plate 403. The electric push rod D The fixed end of 401 is arranged below the spring. The extension and retraction of the free end of the electric push rod D 401 drives the clamping plate 403 to extend and retract.

[0043] The step-by-step crawling mechanism 4 further includes a retaining steel wire 404, and there are two retaining steel wires 404. One end of the retaining steel wire 404 is arranged on the second frame 5, and the other end of the retaining steel wire 404 is arranged on the clamping plate 403. The two retaining steel wires 404 are respectively arranged at both ends of the clamping plate 403. The arrangement of the retaining steel wire 404 enables the clamping plate 403 to maintain a vertical state before contacting the flat tail rope. After the clamping plate 403 clamps the flat tail rope, the spring clamping device 402 is compressed, and the retaining steel wire 404 is also bent at the same time. When the clamping plate 403 is separated from the flat tail rope, the retaining steel wire 404 returns to its original state.

[0044] A detection equipment mounting frame 6 is provided on the first frame 1, and the detection equipment is arranged on the detection equipment mounting frame 6. The detection equipment mounting frame 6 is arranged at the lower part of the frame A 101. Specifically, the detection equipment mounting frame 6 is arranged below the driving wheel frame 303. The detection equipment mounting frame 6 is a hollow quadrangular prism structure. The cavity in the center of the detection equipment mounting frame 6 cooperates with the flat tail rope. After the non-destructive testing equipment is installed on the detection equipment mounting frame 6, the flat tail rope can be subjected to operations such as flaw detection and maintenance.

[0045] like Figure 1-Figure 8 As shown, before climbing, the double walking mode flat tail rope climbing robot 800 first installs the detection equipment on the detection equipment mounting frame 6, and detects the flat tail rope while the double walking mode flat tail rope climbing robot 800 walks on the flat tail rope; the method for using the double walking mode flat tail rope climbing robot 800 according to the embodiment of the present invention includes the following two cases:

[0046] A) In the low oil pollution condition of the flat tail rope, the double walking mode flat tail rope climbing robot 800 uses the wheeled crawling mechanism 3 to walk:

[0047] a. The electric push rod A 201 pushes the guide mechanism 2 to extend, so that the guide wheel 204 is stuck to the side of the flat tail rope;

[0048] b. The electric push rod B 302 pushes the driving wheel frame 303 to extend, and squeezes the driving wheel 304 onto the flat tail rope. At the same time, the electric push rod C 311 pushes the tensioning wheel 312 to make it close to the flat tail rope. The shock absorber 313 is responsible for providing a continuous and stable pressure to the tensioning wheel 312 to ensure the friction force of the driving wheel 304 on the flat tail rope, and at the same time reduce the periodic impact of the uneven surface of the flat tail rope on the double walking mode flat tail rope climbing robot 800;

[0049] c. The drive motor 305 drives the drive wheel 304 to rotate, thereby driving the double walking mode flat tail rope climbing robot 800 to crawl on the flat tail rope;

[0050] B) Under the condition of heavy oil pollution on the flat tail rope, the double walking mode flat tail rope climbing robot 800 uses the stepping crawling mechanism 4 to walk:

[0051] a. First, the driving motor 305 locks the driving wheel 304 so that it cannot rotate;

[0052] b. The vertical electric push rod 104 pushes the second frame 5 out a certain distance;

[0053] c. The electric push rod D 401 pushes the clamping plate 403 to clamp the flat tail rope;

[0054] d. The electric push rod B 302 on the first frame 1 drives the drive wheel 304 to retract, and the electric push rod C 311 drives the tension wheel 312 to retract;

[0055] e. The vertical electric push rod 104 retracts, driving the first rack 1 to move toward the second rack 5, returning to the initial distance between the first rack 1 and the second rack 5;

[0056] f. The electric push rod B 302 pushes the driving wheel frame 303 to extend, and squeezes the driving wheel 304 on the flat tail rope. At the same time, the electric push rod C 311 pushes the tensioning wheel 312 to squeeze the flat tail rope. Because the driving wheel 304 does not need to rotate at this time, there is no need to consider the problem of insufficient power of the driving motor 305 caused by excessive friction. The electric push rod B 302 and the electric push rod C 311 can drive the driving wheel 304 and the tensioning wheel 312 to clamp the flat tail rope with greater force, thereby providing stronger friction;

[0057] g. Finally, the electric push rod D 401 drives the clamping plate 403 to retract, and the process returns to step b. The cycle repeats to complete the forward movement of the flat-tail rope climbing robot 800 in the dual walking mode.

[0058] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0063] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A flat-tail rope climbing robot with dual walking modes, characterized in that: include: A wheeled crawling mechanism, wherein the wheeled crawling mechanism is arranged on the first frame; A step-by-step crawling mechanism, wherein the step-by-step crawling mechanism is arranged on the second frame, and the first frame and the second frame are connected via a telescopic mechanism; A detection device, wherein the detection device is arranged on the first frame; The first frame includes a frame A and a frame B, and the second frame includes a frame C and a frame D, the cross-sectional shapes of the frame A, the frame B, the frame C, and the frame D are all L-shaped, and each includes a main panel and a side panel, the main panel A of the frame A is hinged to the side panel B of the frame B, and the main panel C of the frame C is hinged to the side panel D of the frame D; and A guide mechanism, wherein there are two guide mechanisms, and the two guide mechanisms are respectively arranged on the inner side of the side plate A of the frame A and the inner side of the side plate B of the frame B, the guide mechanism comprises a guide wheel frame, the guide wheel frame and the first frame are connected by four connecting rods A, the first frame, the guide wheel frame and the connecting rods A form a parallelogram mechanism, the upper part and the lower part of the guide wheel frame are respectively provided with a group of cross-arranged guide wheels, an electric push rod A is further arranged between the guide wheel frame and the first frame, the free end of the electric push rod A is arranged on the back of the guide wheel frame, and the two guide wheels are cross-arranged at 90 degrees; The telescopic mechanism includes a slider, a guide rod and a vertical electric push rod. The slider and the vertical electric push rod are arranged on the outer surface of the first frame, and the free ends of the guide rod and the vertical electric push rod are arranged on the outer surface of the second frame. The slider cooperates with the guide rod.

2. The double walking mode flat-tail rope climbing robot according to claim 1, characterized in that: The wheeled crawling mechanism includes a driving wheel assembly, and the driving wheel assembly includes a driving wheel frame. The driving wheel frame and the main panel A of the frame A are connected by four connecting rods B. The driving wheel frame, the frame A and the connecting rods B form a parallelogram mechanism. A driving wheel and a driving motor are respectively arranged at the upper end and the lower end of the driving wheel frame. The driving wheel is connected to the driving motor. An electric push rod B is also arranged between the driving wheel frame and the main panel A of the frame A. The free end B of the electric push rod B is arranged on the back side of the driving wheel frame.

3. The double walking mode flat tail rope climbing robot according to claim 2, characterized in that: The wheeled crawling mechanism further includes a tensioning wheel assembly, which includes a tensioning wheel, a shock absorber and an electric push rod C. The shock absorber and the free end C of the electric push rod C are hinged through the tensioning wheel, and the fixed ends of the shock absorber and the electric push rod C are respectively hinged to the frame B.

4. The double walking mode flat tail rope climbing robot according to claim 3, characterized in that: The driving wheel comprises a central shaft, a flexible column and wear-resistant particles. The central shaft penetrates the flexible column in the axial direction, and the wear-resistant particles are arranged on the outer peripheral surface of the flexible column.

5. The double walking mode flat-tail rope climbing robot according to claim 1, characterized in that: There are two step-by-step crawling mechanisms, which are respectively arranged on the inner side of the main panel C of the frame C and the inner side of the main panel D of the frame D. The step-by-step crawling mechanism includes a clamping plate, and the clamping plate is connected to the second frame through a spring clamping device and an electric push rod D. One end of the spring clamping device is hinged to the clamping plate, and the other end is hinged to the second frame. The free end of the electric push rod D is hinged to the clamping plate, and the fixed end of the electric push rod D is hinged to the second frame.

6. The double walking mode flat-tail rope climbing robot according to claim 5, characterized in that: The step-by-step crawling mechanism further includes a retaining steel wire, and there are two retaining steel wires. One end of the retaining steel wire is arranged on the second frame, and the other end of the retaining steel wire is arranged on the clamping plate. The two retaining steel wires are respectively arranged at both ends of the clamping plate.

7. The double walking mode flat-tail rope climbing robot according to claim 2, characterized in that: The first frame is provided with a detection equipment mounting frame, the detection equipment is arranged on the detection equipment mounting frame, the detection equipment mounting frame is arranged below the driving wheel frame, the detection equipment mounting frame is a hollow quadrangular prism, and the cavity of the detection equipment mounting frame cooperates with the flat tail rope.

Images