Multifunctional heavy-load wire rope climbing robot and use method thereof

Abstract

The present invention discloses a multifunctional heavy-duty steel wire rope climbing robot, comprising: a frame, a tensioning device, a steering indexing adjustment device, a driving device and a functional carrying device. The frame comprises two sets of frames, each set of frames is provided with three supporting steel frames; one side of the steering indexing adjustment device is connected to the tensioning device; the driving device is connected to the other side of the steering indexing adjustment device; the three functional carrying devices and the three sets of tensioning devices are alternately arranged on the six supporting steel frames. The multifunctional heavy-duty steel wire rope climbing robot of the embodiment of the present invention can adapt to steel wire ropes of different twist directions and specifications through the steering indexing adjustment device, and can hold steel wire ropes of different diameters through the tensioning device and the electric push rod. The driving device can realize the heavy-duty climbing of the robot in the reverse twist direction, and different functions can be selected through the functional carrying device. The robot can realize surveying, testing, dust removal, oiling and other operations on the steel wire rope.

Description

Technical Field

[0001] The invention belongs to the technical field of mine hoisting equipment, and in particular relates to a multifunctional heavy-load wire rope climbing robot. Background Art

[0002] Steel wire ropes have the characteristics of strong bearing capacity, good flexibility and high tensile strength. They are widely used in port lifting, mine hoisting, cableway transportation, elevators, suspension bridges and other industries. Due to the actual working conditions, climbing robots are often required to survey, detect, remove dust and oil the steel wire ropes. According to the different working purposes of the climbing robots, there are high requirements for the robot's running speed, load capacity and stability. Existing steel wire rope climbing robots include steel wire rope axial climbing and steel wire rope twist climbing according to their climbing directions. For example, the cable climbing robot with patent publication number CN113428252B evenly arranges two sets of walking mechanisms along the circumference of the cable to make the robot move along the axial direction of the steel wire rope, which has the advantages of fast running speed. For example, the steel wire rope twist climbing robot with patent publication number CN109969279A moves along the spiral line direction of the steel wire rope through arc rollers with the same diameter as the steel wire rope strands, which has the advantages of stable operation.

[0003] However, the above-mentioned wire rope climbing robot will also face the following problems when working: First, for heavy-load conditions, such as oiling the wire rope, it is necessary not only to carry oiling equipment, but also to reserve a certain amount of lubricant, so the robot needs to meet the working condition of heavy-load climbing. Second, since the wire rope has a variety of twisting directions, including left twist, right twist, and alternating twist, the climbing robot is required to have a certain climbing angle adjustment function to improve the robot's versatility for wire ropes of different twist directions and specifications. Third, taking into account the actual working conditions, it is necessary to survey, detect, remove dust, and oil the wire rope, and different tasks have different requirements for the robot's operating speed, load capacity, and stability. Therefore, while the robot meets the climbing requirements, it is also necessary to consider the operating conditions of different tasks. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a multifunctional heavy-load wire rope climbing robot.

[0005] According to an embodiment of the present invention, the multifunctional heavy-load wire rope climbing robot comprises: a frame, which comprises two groups of frames arranged opposite to each other, each group of the frames being provided with three supporting steel frames, a tensioning device, which comprises three groups of the tensioning devices, and each group of the tensioning devices is arranged on one of the supporting steel frames; a steering indexing adjustment device, one side of the steering indexing adjustment device is connected to the tensioning device; a driving device, which is connected to a side of the steering indexing adjustment device away from the tensioning device; and a functional carrying device, which comprises three functional carrying devices, each of which is arranged on one of the supporting steel frames, and the three functional carrying devices and the three groups of the tensioning devices are alternately arranged on six of the supporting steel frames.

[0006] The multifunctional heavy-load wire rope climbing robot according to the embodiment of the present invention can adapt to wire ropes of different twist directions and specifications through the steering indexing adjustment device, can hold wire ropes of different diameters through the tensioning device and the electric push rod, can climb heavy loads in the reverse twist direction through the driving device, and can perform surveying, testing, dust removal, oiling and other operations on the wire rope by selecting different functions through the function-carrying device.

[0007] Optionally, the two groups of racks are connected by opening and closing hinges and electromagnetic locks, and the two groups of racks form a hexagonal prism-shaped frame.

[0008] Optionally, each group of the tensioning devices includes two tensioning arms, and the same end of the two tensioning arms is rotatably connected to the two ends of the same supporting steel frame through a pin.

[0009] Optionally, the tensioning device further includes an electric push rod, and both ends of the electric push rod are rotatably connected to the two tensioning arms via a pin 2 respectively.

[0010] Optionally, the other ends of the two tensioning arms are provided with a spring limit support and a movable slide, a spring is arranged between the spring limit support and the movable slide, the tensioning bolt passes through the spring and is connected to the movable slide, and the movable slide is also connected to the steering indexing adjustment device.

[0011] Optionally, the steering indexing adjustment device includes a fixed base, one side of the fixed base is connected to the movable slide, and the other side of the fixed base is rotatably connected to the rotating table through a bearing, a steering adjustment handle is provided on the outer circumferential surface of the rotating table, and a side of the rotating table away from the fixed base is connected to the driving device, and a locking block is also provided between the rotating table and the fixed base, the locking block has an annular groove arranged along the circumference of the locking block, and a bolt through hole is provided on the fixed base, and the locking knob cooperates with the bolt through hole and the annular groove.

[0012] Optionally, the rotating table has a locking state and an active state. The rotating table in the locking state is locked with the fixed base and the locking knob passes through the bolt through hole and cooperates with the annular groove. The rotating table in the active state is rotatably connected to the fixed base, and the locking knob is disengaged from the annular groove.

[0013] Optionally, the driving device includes a roller support seat, which is connected to the rotating table via a connecting flange, a hub motor is arranged in the roller support seat, the hub motor is rotatably connected to the wheel axle on the roller support seat, and a gear-shaped roller is arranged on the outside of the hub motor.

[0014] Optionally, the functional carrying device includes a linear module support frame, one end of the linear module support frame is fixed to one of the supporting steel frames, a linear module fixed platform is provided on the top of the linear module support frame, support seat 1, support seat 2 and a motor are provided on the linear module fixed platform, the output shaft of the motor is connected to one end of the ball screw through a coupling, the other end of the ball screw passes through the stage and is rotatably connected to the support seat 1, the coupling is provided on the support seat 2, the ball screw and the stage are connected by threads, linear sliders are provided on both sides of the bottom of the stage, linear slide rails are provided on both sides of the linear module support frame, and the linear sliders cooperate with the linear slide rails.

[0015] The method for using the multifunctional heavy-load wire rope climbing robot according to an embodiment of the present invention comprises the following steps:

[0016] (1) Robot installation: The electromagnetic lock is powered on and opened, so that the frame is opened with the opening and closing hinge as the rotation center. After the multifunctional heavy-load wire rope climbing robot is placed on the wire rope, the electromagnetic lock is powered off and closed to close the frame;

[0017] (2) Adjustment of the robot's climbing direction: first, the locking knob is rotated to separate the front cone of the locking knob from the annular groove, and the rotating table changes from the locked state to the active state; then, the climbing direction angle is adjusted according to the twist direction of the wire rope and the required function; the steering adjustment handle is rotated to adjust to the appropriate climbing direction; finally, the locking knob is rotated in the opposite direction to squeeze the front cone of the locking knob against the annular groove of the locking block, and the rotating table changes from the active state to the locked state, thereby realizing the adjustment of the climbing direction of the multifunctional heavy-duty wire rope climbing robot;

[0018] (3) Robot clamping: start the electric push rod and control the electric push rod to retract, so that the three sets of tensioning arms can clamp the wire rope until the three sets of gear-shaped rollers of the driving devices can clamp the wire rope;

[0019] (4) Adjustment of the robot function module: When the driving device completely holds the wire rope, the motors of the three groups of the function carrying devices are started, and the device carried on the stage is moved toward the wire rope through the transmission of the coupling and the ball screw, and through the cooperation of the linear slider and the linear slide rail, until the appropriate working distance between the device and the wire rope is met;

[0020] (5) Robot climbing: The hub motor of the driving device is started, and the robot moves by meshing the gear-shaped roller with the strands of the wire rope.

[0021] The multifunctional heavy-load wire rope climbing robot according to the embodiment of the present invention can adapt to wire ropes of different twist directions and specifications through the steering indexing adjustment device, can hold wire ropes of different diameters through the tensioning device and the electric push rod, can climb heavy loads in the reverse twist direction through the driving device, and can perform surveying, testing, dust removal, oiling and other operations on the wire rope by selecting different functions through the function-carrying device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a multifunctional heavy-load wire rope climbing robot according to an embodiment of the present invention.

[0023] Figure 2 yes Figure 1 Top view of the .

[0024] Figure 3 It is a schematic structural diagram of a tensioning device according to an embodiment of the present invention.

[0025] Figure 4 It is a schematic structural diagram of a steering indexing adjustment device according to an embodiment of the present invention.

[0026] Figure 5 yes Figure 4 AA section view.

[0027] Figure 6 Schematic diagram of the structure of the driving device of the embodiment of the present invention.

[0028] Figure 7 It is a schematic diagram of the structure of the function-carrying device of an embodiment of the present invention.

[0029] Reference numerals:

[0030] Steel wire rope 1; supporting steel frame 1 2; frame 1 3; frame 2 4; electromagnetic lock 5; frame 3 6; rib plate 7; supporting steel frame 2 8; detection sensor 9; opening and closing hinge 10; frame 4 11;

[0031] Tensioning device 12; tensioning arm 1201; electric push rod 1202; pin 1203; pin 2 1204; connecting seat 1205; spring limit support 1206; tensioning bolt 1207; spring 1208; moving slide 1209;

[0032] Steering indexing adjustment device 13; rotating table 1301; fixed base 1302; locking knob 1303; steering adjustment handle 1304; ball 1305; locking block 1306; bearing 1037;

[0033] Driving device 14; connecting flange 1401; roller support seat 1402; hub motor 1403; gear-shaped roller 1404; roller shaft 1405;

[0034] Functional carrying device 15; support seat 1 1501; linear slider 1502; loading platform 1503; ball screw 1504; coupling 1505; support seat 2 1506; motor 1507; linear module fixing platform 1508; linear slide rail 1509; linear module support frame 1510. DETAILED DESCRIPTION

[0035] 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.

[0036] like Figure 1-Figure 7 As shown, the multifunctional heavy-duty steel wire climbing robot according to the embodiment of the present invention includes a frame, a tensioning device 12, a steering indexing adjustment device 13, a driving device 14 and a function carrying device 15. The frame includes two sets of frames arranged relatively, the first set of frames is frame one 3 and frame three 6, the second set of frames is frame two 4 and frame four 11, and three supporting steel frames are arranged on each set of frames, and there are six supporting steel frames in total; that is, three supporting steel frames are arranged between frame one 3 and frame three 6, and three supporting steel frames are also arranged between frame two 4 and frame four 11. The supporting steel frames are arranged vertically between the two frames of each set, that is, if frame one 3 and frame three 6 are arranged along the horizontal plane, then the supporting steel frames are arranged between frame one 3 and frame three 6 perpendicular to the horizontal plane, that is, the supporting steel frames are arranged along the vertical direction.

[0037] There are three groups of tensioning devices 12, and each group of tensioning devices 12 is arranged on one of the supporting steel frames; each group has two tensioning arms 1201, and the two tensioning arms 1201 of each group are arranged on the same supporting steel frame, one of which is arranged at the top end of the supporting steel frame, and the other is arranged at the bottom end of the supporting steel frame.

[0038] One side of the steering indexing adjustment device 13 is connected to the tensioning device 12 , and the driving device 14 is connected to the side of the steering indexing adjustment device 13 away from the tensioning device 12 ; that is, the steering indexing adjustment device 13 is arranged between the tensioning device 12 and the driving device 14 .

[0039] There are three functional carrying devices 15, each of which is arranged on a supporting steel frame, and the three functional carrying devices 15 and the three sets of tensioning devices 12 are alternately arranged on the six supporting steel frames. The two sets of frames are arranged opposite to each other, and the six supporting steel frames on the two sets of frames can form a ring or polygon, and the functional carrying devices 15 and the tensioning devices 12 are alternately arranged, that is, in the ring or polygon formed by the two sets of frames, the tensioning devices 12 can only be adjacent to the functional carrying devices 15, and the functional carrying devices 15 can only be on both sides of the tensioning devices 12.

[0040] Reference below Figure 1-Figure 7 The following briefly describes the method for using the multifunctional heavy-load wire rope climbing robot according to an embodiment of the present invention: first, install the frame on the wire rope 1, adjust the climbing direction of the multifunctional heavy-load wire rope climbing robot according to the steering indexing adjustment device 13, then control the tensioning device 12 so that the driving device 14 can hold the wire rope 1 tightly, and then move the device mounted on the loading platform 1503 to a suitable working distance from the wire rope 1 through the functional carrying device 15, and finally start the driving device 14 so that the multifunctional heavy-load wire rope climbing robot can climb along the wire rope 1.

[0041] According to the multifunctional heavy-load wire rope climbing robot of the embodiment of the present invention, the steering indexing adjustment device 13 can make the robot adapt to the wire rope 1 of different twist directions and specifications, the tensioning device 12 and the electric push rod can realize the robot to hold the wire rope 1 of different diameters, the driving device 14 can realize the robot's heavy-load climbing in the reverse twist direction, and different functions can be selected by the function-carrying device 15. The robot can realize surveying, detection, dust removal, oiling and other operations on the wire rope 1.

[0042] like Figure 1-Figure 7As shown, the multifunctional heavy-duty steel wire climbing robot according to an embodiment of the present invention comprises a frame, a tensioning device 12, a steering indexing adjustment device 13, a driving device 14 and a function carrying device 15. The frame comprises two sets of frames, and the two sets of frames further comprise a plurality of ribs 7, which are arranged on both sides of six supporting steel frames, that is, ribs 7 are arranged on both sides of each supporting steel frame, specifically, four ribs 7 are arranged on both sides of each supporting steel frame, and the frame is reinforced with the frame and the supporting steel frame by the plurality of ribs 7, thereby improving the overall strength of the frame.

[0043] The two groups of frames are connected by an opening and closing hinge 10 and an electromagnetic lock 5, and the two groups of frames form a hexagonal prism-shaped frame. Specifically, the frame 1 3 and the frame 4 11 are connected by the opening and closing hinge 10 and the electromagnetic lock 5 to realize the opening and closing functions, and the frame 2 4 and the frame 3 6 are also connected by the opening and closing hinge 10 and the electromagnetic lock 5 to realize the opening and closing functions. When the electromagnetic lock 5 is powered on, the electromagnetic lock 5 is opened, and the frame 1 3 and the frame 4 11 are opened with the opening and closing hinge 10 as the rotation center, and the frame 2 4 and the frame 3 6 are opened with the opening and closing hinge 10 as the rotation center. At this time, the frame can be surrounded by the wire rope 1. When the electromagnetic lock 5 is powered off, the electromagnetic lock 5 is closed, so that the frame is closed. The two electromagnetic locks 5 between the two groups of frames can be powered on and off synchronously.

[0044] The six supporting steel frames are divided into three supporting steel frames 1 2 and three supporting steel frames 2 8. The three supporting steel frames 1 2 and the three supporting steel frames 2 8 are alternately arranged on two groups of frames. The tensioning device 12 is arranged on the supporting steel frame 2 8, and the functional carrying device 15 is arranged on the supporting steel frame 1 2.

[0045] There are three groups of tensioning devices 12, and each group of tensioning devices 12 includes two tensioning arms 1201, an electric push rod 1202, two spring limit supports 1206, two movable slides 1209 and two tensioning bolts 1207. The upper and lower ends of the same side of the supporting steel frame 8 are fixed with connecting seats 1205 by bolts. The same end of the two tensioning arms 1201 is rotatably connected to the two ends of the same supporting steel frame through the pin 1203, that is, the two tensioning arms 1201 are rotatably connected to the two connecting seats 1205 on the supporting steel frame 8 through the pin 1203. Specifically, the tensioning arm 1201 forms a rotating pair with the connecting seat 1205 through the pin 1203, and the tensioning arm 1201 performs a rotational motion with the pin 1203 as the center.

[0046] The two ends of the electric push rod 1202 are rotatably connected to the two tensioning arms 1201 through a second pin 1204, that is, the electric push rod 1202 forms a rotation pair with the tensioning arm 1201 through the second pin 1204, and the rotation of the tensioning arm 1201 is realized by the extension and contraction of the electric push rod 1202. The three sets of tensioning devices 12 are arranged at equal intervals of 120°, and the robot can hold the steel wire ropes 1 of different diameters by adjusting the electric push rod 1202.

[0047] The ends of the two tensioning arms 1201 away from the supporting steel frame 28 are both provided with a spring limit support 1206 and a movable slide 1209, a spring 1208 is provided between the spring limit support 1206 and the movable slide 1209, a tensioning bolt 1207 penetrates the spring 1208 and is connected to the movable slide 1209, and the movable slide 1209 is slidably connected to the tensioning arm 1201, that is, there is a guide groove on the tensioning arm 1201 for the movable slide 1209 to move, and the movable slide 1209 can make a linear motion along the guide groove on the tensioning arm 1201. The movable slide 1209 is also connected to the steering indexing adjustment device 13. The tensioning bolt 1207 is tensioned to give the spring 1208 a certain pre-tightening force, and is connected to the steering indexing adjustment device 13 and the driving device 14 through the movable slide 1209, so that the robot is tightly held on the wire rope 1.

[0048] The steering indexing adjustment device 13 includes a fixed base 1302 and a rotating table 1301. One side of the fixed base 1302 is fixedly connected to the movable slide 1209 by bolts, and the other side of the fixed base 1302 is rotatably connected to the rotating table 1301 by a bearing 1307. The outer ring of the bearing 1307 is interference fit with the fixed base 1302, and the inner ring of the bearing 1307 is interference fit with the rotating table 1301, so that the rotating table 1301 can rotate relative to the fixed base 1302.

[0049] Six grooves are evenly arranged on the outer circumference of the rotating table 1301 , and the steering adjustment handle 1304 cooperates with the grooves. After the steering adjustment handle 1304 is inserted into one of the grooves, the angle of the rotating table 1301 can be adjusted by the steering adjustment handle 1304 and the rotating table 1301 .

[0050] A locking block 1306 is also provided between the rotating table 1301 and the fixed base 1302. The locking block 1306 has an annular groove provided along the circumference of the body of the locking block 1306. A bolt through hole is provided on the outer circumference of the fixed base 1302. The locking knob 1303 cooperates with the bolt through hole and the annular groove. By rotating the locking knob 1303, the front end of the locking knob 1303 is pressed against the annular groove of the locking block 1306 to lock the rotating table 1301. The rotating table 1301 has a locking state and an active state. The rotating table 1301 in the locking state is locked with the fixed base 1302 and the locking knob 1303 passes through the bolt through hole and cooperates with the annular groove. The rotating table 1301 in the active state is rotatably connected with the fixed base 1302, and the locking knob 1303 is separated from the annular groove.

[0051] The steering indexing adjustment device 13 further includes a ball 1305 , which is fixed on the fixed base 1302 and contacts the inner surface of the rotating platform 1301 , so that the rotating platform 1301 rotates smoothly.

[0052] The side of the rotating platform 1301 away from the fixed base 1302 is connected to the driving device 14, and the rotating platform 1301 is connected to the driving device 14 through the connecting flange 1401 to achieve arbitrary adjustment and locking of the steering of the driving device 14. Through the steering indexing adjustment device 13, the robot can adapt to the steel wire rope 1 with different twist directions. At the same time, according to the actual working conditions for speed, force, and whether the operation is stable, the steering indexing adjustment device 13 can realize the robot roller climbing along the reverse twist direction, axial direction, twist direction and other different climbing modes to adapt to different needs, and has good versatility.

[0053] The driving device 14 includes a roller support seat 1402, which is connected to the rotating table 1301 through a connecting flange 1401. The roller support seat 1402 includes a base and side panels on both sides. Both side panels are provided with wheel axle holes, and wheel axles 1405 are provided in the wheel axle holes. A hub motor 1403 is provided in the roller support seat 1402, and the hub motor 1403 is rotatably connected to the wheel axle on the roller support seat 1402. A gear-shaped roller 1404 is provided on the outside of the hub motor 1403, and the gear-shaped roller 1404 is connected to the hub motor 1403 by stamping. The hub motor 1403 cooperates with the wheel axle 1405, so that the hub motor 1403 rotates relative to the roller axle 1405, thereby driving the gear-shaped roller 1404 to rotate, so that the robot moves along the wire rope 1. By meshing the gear-shaped roller 1404 with the strands of the wire rope 1, the robot can achieve stable climbing under heavy load conditions, providing a solution for heavy load operations such as oiling the wire rope.

[0054] Specifically, the wheel axle 1405 is inserted into the wheel axle hole and fixedly connected with the wheel axle hole, and the wheel axle 1405 is rotationally connected with the wheel hub motor 1403, that is, the wheel hub motor 1403 can rotate relative to the wheel axle 1405. A bearing is provided at the output shaft of the wheel hub motor 1403, and a fixed shaft and a bearing are also provided on the other side of the wheel hub motor 1403 corresponding to the output shaft. The fixed shaft is fixedly connected with the wheel hub motor, and both ends of the wheel hub motor 1403 are connected with the wheel axle 1405 through the bearing, thereby realizing the rotation connection between the wheel hub motor 1403 and the wheel axle 1405.

[0055] The driving device 14 adopts a full-drive design and is driven by a hub motor 1403. While providing sufficient power for the robot, it can also effectively reduce the internal space of the robot, allowing the robot to carry more functional equipment and climb the wire rope stably and reliably.

[0056] The functional carrying device 15 includes a linear module support frame 1510 , one end of which is fixed on a supporting steel frame 2 and is the main force-bearing member of the functional carrying device 15 . A linear module fixed platform 1508 is provided on the top of the linear module support frame 1510, and the linear module fixed platform 1508 is fixed on the top of the linear module support frame 1510 by bolts. A support seat 1501, a support seat 2 1506 and a motor 1507 are provided on the linear module fixed platform 1508. The output shaft of the motor 1507 is connected to one end of the ball screw 1504 through a coupling 1505. The other end of the ball screw 1504 passes through the stage 1503 and is rotatably connected to the support seat 1 1501 through a bearing provided in the support seat 1. The coupling 1505 is provided on the support seat 2 1506. The ball screw 1504 and the stage 1503 are connected by threads, that is, a threaded hole is provided on the stage 1503, and the external thread on the ball screw 1504 matches the internal thread in the threaded hole on the stage 1503.

[0057] Linear sliders 1502 are provided on both sides of the bottom of the stage 1503. The linear sliders 1502 are fixed to the inner side plates of the stage 1503 by bolts. Linear slide rails 1509 are provided on both sides of the linear module support frame 1510. The linear sliders 1502 cooperate with the linear slide rails 1509, and the linear sliders 1502 move along the length direction of the linear slide rails 1509. The stage 1503 is driven by the motor 1507, the coupling 1505 and the ball screw 1504 are driven, and the linear sliders 1509 guide to realize the movement of the stage 1503. The stage 1503 can carry surveying equipment, detection sensors, dust removal devices, oiling devices, etc. to work in different occasions. The functional carrying device 15 can select different functional modules according to actual needs, such as surveying, detection, dust removal and oiling, etc., and adjust the distance from different equipment to the wire rope through the linear module to improve the universality of the robot.

[0058] The method for using the multifunctional heavy-load wire rope climbing robot according to the embodiment of the present invention comprises the following steps:

[0059] (1) Robot installation: The electromagnetic lock 5 is powered on and opened, so that the frame is opened with the opening and closing hinge 10 as the rotation center. After the multifunctional heavy-load wire rope climbing robot is placed on the wire rope 1, the electromagnetic lock 5 is powered off and closed to achieve the closure of the frame;

[0060] (2) Adjustment of the robot's climbing direction: First, turn the locking knob 1303 to separate the front cone of the locking knob 1303 from the annular groove of the locking block 1306, and the rotating table 1301 changes from a locked state to an active state. Then, adjust the climbing direction angle according to the twist direction of the wire rope 1 and the required function, and turn the steering adjustment handle 1304 to adjust to a suitable climbing direction. Finally, turn the locking knob 1303 in the opposite direction to make the front cone of the locking knob 1303 squeeze the annular groove of the locking block 1306, and change the rotating table 1301 from an active state to a locked state, thereby realizing the adjustment of the climbing direction of the multifunctional heavy-duty wire rope climbing robot.

[0061] (3) Robot holding: Start the electric push rod 1202 and control the electric push rod 1202 to shrink. Through the two rotating pairs of pin 1203 and pin 2 1204, the distance between the two tensioning arms 1201 is reduced. At the same time, the tensioning bolt 1207 is rotated to pre-tighten the spring 1208 on the tensioning device 12, so that the three sets of tensioning arms 1201 gradually press the wire rope 1 until the gear-shaped rollers 1404 of the three sets of driving devices 14 can hold the wire rope 1.

[0062] (4) Adjustment of the robot function module: When the driving device 14 completely holds the wire rope 1, the motors 1507 of the three groups of function carrying devices 15 are started, and the equipment mounted on the stage 1503 is moved toward the wire rope 1 through the transmission of the coupling 1505 and the ball screw 1504, and through the cooperation of the linear slider 1502 and the linear guide rail 1509, until the appropriate working distance between the equipment and the wire rope 1 is met;

[0063] (5) Robot climbing: The hub motor 1403 of the driving device 14 is started, and the robot moves forward by meshing with the twisted strands of the wire rope 1 through the gear-shaped roller 1404.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", 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.

[0068] 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 multifunctional heavy-load wire rope climbing robot, characterized in that: include: The frame includes two sets of frames arranged opposite to each other, and each set of frames is provided with three supporting steel frames. Tensioning device, the tensioning device has three groups, each group of the tensioning device is arranged on one of the supporting steel frames; each group of the tensioning device includes two tensioning arms, and the other ends of the two tensioning arms are provided with a spring limit support and a movable slide; A steering indexing adjustment device, one side of which is connected to the tensioning device; A driving device, the driving device being connected to a side of the steering indexing adjustment device away from the tensioning device; The steering indexing adjustment device comprises a fixed base, one side of the fixed base is connected to the movable slide, and the other side of the fixed base is rotatably connected to the rotating table through a bearing, and a steering adjustment handle is provided on the outer circumferential surface of the rotating table, and a side of the rotating table away from the fixed base is connected to the driving device, and a locking block is also provided between the rotating table and the fixed base, and the locking block has an annular groove arranged along the circumference of the locking block, and a bolt through hole is provided on the fixed base, and a locking knob cooperates with the bolt through hole and the annular groove; the rotating table has a locking state and an active state, and the rotating table in the locking state is locked with the fixed base and the locking knob passes through the bolt through hole and cooperates with the annular groove, and the rotating table in the active state is rotatably connected with the fixed base, and the locking knob disengages from the annular groove; Functional carrying devices, there are three functional carrying devices, each of which is arranged on one of the supporting steel frames, and the three functional carrying devices and the three groups of tensioning devices are alternately arranged on six of the supporting steel frames; The functional carrying device includes a linear module support frame, one end of the linear module support frame is fixed on one of the supporting steel frames, a linear module fixing platform is provided on the top of the linear module support frame, support seat 1, support seat 2 and a motor are provided on the linear module fixing platform, the output shaft of the motor is connected to one end of the ball screw through a coupling, the other end of the ball screw passes through the stage and is rotatably connected to the support seat 1, the coupling is provided on the support seat 2, the ball screw and the stage are connected by threads, linear sliders are provided on both sides of the bottom of the stage, linear slide rails are provided on both sides of the linear module support frame, and the linear sliders cooperate with the linear slide rails.

2. The multifunctional heavy-load wire rope climbing robot according to claim 1, characterized in that: The two groups of racks are connected by opening and closing hinges and electromagnetic locks, and the two groups of racks form a hexagonal prism-shaped frame.

3. The multifunctional heavy-load wire rope climbing robot according to claim 1, characterized in that: The same end of the two tensioning arms is rotatably connected to the two ends of the same supporting steel frame through a pin.

4. The multifunctional heavy-load wire rope climbing robot according to claim 3, characterized in that: The tensioning device further comprises an electric push rod, and two ends of the electric push rod are rotatably connected to the two tensioning arms through a pin 2 respectively.

5. The multifunctional heavy-load wire rope climbing robot according to claim 3, characterized in that: A spring is arranged between the spring limit support and the movable slide, a tensioning bolt passes through the spring and is connected to the movable slide, and the movable slide is also connected to the steering indexing adjustment device.

6. The multifunctional heavy-load wire rope climbing robot according to claim 5, characterized in that: The driving device includes a roller support seat, which is connected to the rotating platform via a connecting flange. A hub motor is arranged in the roller support seat, which is rotationally connected to the wheel axle on the roller support seat, and a gear-shaped roller is sleeved on the outside of the hub motor.

7. A method for using the multifunctional heavy-load wire rope climbing robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: (1) Robot installation: The electromagnetic lock is powered on and opened, so that the frame is opened with the opening and closing hinge as the rotation center. After the multifunctional heavy-load wire rope climbing robot is placed on the wire rope, the electromagnetic lock is powered off and closed to close the frame; (2) Adjustment of the robot's climbing direction: first, turn the locking knob so that the front end cone of the locking knob is separated from the annular groove, and the rotating table changes from the locked state to the active state; then, adjust the climbing direction angle according to the lay direction of the wire rope and the required function; turn the steering adjustment handle to adjust to the appropriate climbing direction; finally, turn the locking knob in the opposite direction so that the front end cone of the locking knob squeezes the annular groove of the locking block, and the rotating table changes from the active state to the locked state, thereby realizing the adjustment of the climbing direction of the multifunctional heavy-duty wire rope climbing robot; (3) Robot clamping: start the electric push rod and control the electric push rod to retract, so that the three sets of tensioning arms can clamp the wire rope until the three sets of gear-shaped rollers of the driving devices can clamp the wire rope; (4) Adjustment of the robot functional module: When the driving device fully holds the wire rope, the motors of the three groups of the functional carrying devices are started, and through the transmission of the coupling and the ball screw, and through the cooperation of the linear slider and the linear slide rail, the device mounted on the stage moves toward the wire rope until the appropriate working distance between the device and the wire rope is met; (5) Robot climbing: The hub motor of the driving device is started, and the robot moves by meshing the gear-shaped roller with the strands of the wire rope.

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