An overhauling robot

Abstract

This invention discloses a maintenance robot, comprising a frame, a climbing device, a central maintenance device, and a side maintenance device. The climbing device is mounted on the frame and used for climbing along the extension direction of the ropes. The central maintenance device is mounted on the frame and used for the maintenance of the object to be inspected. The side maintenance device is mounted on the frame and used for the maintenance of the object to be inspected. This invention utilizes the climbing device to climb along the ropes on both sides of the main cable, enabling the central and side maintenance devices to perform quick and convenient maintenance on the main cable without requiring personnel to work at height.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a maintenance robot. Background Technology

[0002] The main cable is the main load-bearing component of a suspension bridge. The main cable is protected against corrosion by using "protective putty + wrapped steel wire + external protective coating". However, the external protective coating is prone to aging and cracking when exposed to air.

[0003] In this technology, staff control a drone to travel along the extension direction of the main cable, and the drone inspects the outer protective layer for aging, cracking, and other problems. Then, a crane is used to lift maintenance personnel, who then repair the more severely aged and cracked sections of the main cable based on the drone's inspection findings.

[0004] However, articulated boom lifts require a road space during operation, which can easily cause traffic congestion. Furthermore, when the main cable is being maintained, workers must operate at height on the boom lift, posing safety risks. Summary of the Invention

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a maintenance robot that facilitates the maintenance of the main cable.

[0006] This application provides a maintenance robot, including:

[0007] frame;

[0008] A climbing device, installed on the frame, is used for climbing along ropes;

[0009] A central inspection device is installed on the frame for inspecting the object to be inspected;

[0010] A side inspection device is installed on the frame and is used for the inspection of the object to be inspected.

[0011] According to some embodiments of the present invention, the climbing device includes:

[0012] First framework;

[0013] The second frame is slidably positioned relative to the first frame;

[0014] A power component, connected to the first frame and the second frame, is used to drive the first frame and the second frame to slide relative to each other;

[0015] A first clamping assembly is disposed on the first frame for clamping a rope;

[0016] A second clamping assembly, disposed in the second frame, is used to clamp the rope;

[0017] In this configuration, one of the first clamping component and the second clamping component is in a clamping state, and the other is in a released state. The power component can drive the first frame and the second frame to slide relative to each other, so that the climbing device can climb along the extension direction of the rope.

[0018] According to some embodiments of the present invention, the power assembly includes:

[0019] The power component is fixedly mounted on the first frame;

[0020] The transmission component is at least partially disposed on the second frame along the sliding direction of the second frame;

[0021] The drive wheel is connected to the drive shaft of the power component, and the drive wheel is connected to the transmission component for transmission.

[0022] According to some embodiments of the present invention, the transmission component is one of a chain, a rack, or a belt.

[0023] According to some embodiments of the present invention, the climbing device further includes:

[0024] A first roller assembly is disposed on the first frame, wherein the rollers of the first roller assembly are used to roll on the rope;

[0025] A second roller assembly is disposed on the second frame, wherein the rollers of the second roller assembly are used to roll on the rope.

[0026] According to some embodiments of the present invention, the first roller assembly includes a first mounting base, a first rocker arm, a first roller structure and a first buffer structure. The first mounting base is fixedly disposed on the first frame. One end of the first rocker arm is rotatably connected to the first mounting base and the other end is connected to the first roller structure. The first buffer structure is connected to the first mounting base and the first rocker arm and is used to buffer the swing of the first rocker arm.

[0027] The second roller assembly includes a second mounting base, a second rocker arm, a second roller structure, and a second buffer structure. The second mounting base is fixedly mounted on the second frame. One end of the second rocker arm is rotatably connected to the second mounting base, and the other end is connected to the second roller structure. The second buffer structure is connected to the second mounting base and the second rocker arm to buffer the swing of the second rocker arm.

[0028] According to some embodiments of the present invention, the first buffer structure includes a first sleeve, a first telescopic rod and a first elastic element. The first sleeve is rotatably connected to the first mounting base, the first telescopic rod is rotatably connected to the first swing rod, the first telescopic rod is slidably connected to the first sleeve, and the first elastic element is disposed on the first sleeve and the first telescopic rod to buffer the relative close movement of the first sleeve and the first telescopic rod.

[0029] The second buffer structure includes a second sleeve, a second telescopic rod, and a second elastic element. The second sleeve is rotatably connected to the second mounting base, the second telescopic rod is rotatably connected to the second swing rod, and the second telescopic rod is slidably connected to the second sleeve. The second elastic element is disposed on the second sleeve and the second telescopic rod to buffer the relative close movement of the second sleeve and the second telescopic rod.

[0030] According to some embodiments of the present invention, the climbing device further includes:

[0031] The first climbing mechanism includes a first driving component, two first sliding seats, at least two first roller components and at least two first clamping components. The two first sliding seats are slidably disposed on the first frame, and the sliding direction is perpendicular to the sliding direction of the first frame relative to the second frame. The first driving component is used to drive the two first sliding seats to move away from or towards each other. Each first sliding seat is provided with the first roller component and the first clamping component.

[0032] The second climbing mechanism includes a second drive assembly, two second sliding seats, at least two second roller assemblies, and at least two second clamping assemblies. The two second sliding seats are slidably disposed on the second frame, and the sliding direction is perpendicular to the sliding direction of the second frame relative to the first frame. The second drive assembly is used to drive the two second sliding seats to move away from or closer to each other. Each second sliding seat is provided with a second roller assembly and a second clamping assembly.

[0033] According to some embodiments of the present invention, the first drive assembly includes two first lead screws, two first universal joint structures and a first drive structure. The two first lead screws are rotatably disposed on the first frame and threadedly connected to the first sliding seat. The two first universal joint structures are respectively connected to the ends of the first lead screws. The first drive structure is simultaneously connected to the two first universal joint structures for simultaneously driving the two first lead screws to rotate in the same or opposite directions.

[0034] The second drive assembly includes two second lead screws, two second universal joint structures, and a second drive structure. The two second lead screws are rotatably mounted on the second frame and threadedly connected to the second sliding seat. The two second universal joint structures are respectively connected to the ends of the second lead screws. The second drive structure is simultaneously connected to the two second universal joint structures to drive the two second lead screws to rotate in the same or opposite directions at the same time.

[0035] According to some embodiments of the present invention, the middle detection device includes:

[0036] A first lifting mechanism is disposed on the frame;

[0037] The first maintenance mechanism is located on the first lifting mechanism, and the first lifting mechanism is used to control the up and down movement of the first maintenance mechanism.

[0038] The side detection device includes:

[0039] A second lifting mechanism is provided on the frame;

[0040] The second maintenance mechanism is located within the second lifting mechanism, which controls the up-and-down movement of the second maintenance mechanism.

[0041] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: the solution of this application utilizes a climbing device to climb along the ropes on both sides of the main cable, thereby enabling the central maintenance device and the side maintenance device to perform quick and convenient maintenance on the main cable, without requiring operators to work at heights. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the state structure of the maintenance robot during maintenance according to an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the overall structure of the maintenance robot according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the climbing device according to an embodiment of the present invention;

[0045] Figure 4 This is a partial structural schematic diagram of the climbing device according to an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of the first clamping component according to an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the structure of the first roller assembly according to an embodiment of the present invention;

[0048] Figure 7This is a schematic diagram of an angle structure of the first climbing mechanism according to an embodiment of the present invention;

[0049] Figure 8 This is a schematic diagram of another angle structure of the first climbing mechanism according to an embodiment of the present invention;

[0050] Figure 9 This is a schematic diagram of the structure of the first lifting mechanism of the central detection device according to an embodiment of the present invention;

[0051] Figure 10 This is a schematic diagram of the side detection device according to an embodiment of the present invention.

[0052] The meanings of the reference numerals in the attached figures are as follows:

[0053] 10. Rope; 100. Frame; 200. Climbing device; 210. First frame; 220. Second frame; 230. Power assembly; 231. Power component; 232. Transmission component; 233. Drive wheel; 240. First climbing mechanism; 241. First base; 242. First drive assembly; 2421. First drive structure; 2422. First drive component; 2423. First gearbox; 2424. First universal joint structure; 2425. First adapter rod; 2426. First universal joint; 2427. First lead screw; 243. First sliding seat; 244. First clamping assembly; 2441. First fixed seat; 2442. First bidirectional lead screw; 2443. First slider; 2 444. First clamping element; 2445. First driving element; 245. First roller assembly; 2451. First mounting base; 2452. First swing arm; 2453. First roller structure; 2454. First buffer structure; 2455. First sleeve; 2456. First telescopic rod; 2457. First elastic element; 250. Second climbing mechanism; 300. Central maintenance device; 310. First lifting mechanism; 311. First support 311, 312, second support 312; 313. Link assembly; 3131. First link; 3132. Second link; 314. Power output assembly; 400. Side maintenance device; 410. Second lifting mechanism; 420. Second maintenance mechanism. Detailed Implementation

[0054] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0055] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0056] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0057] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0058] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0059] The present invention will now be described in further detail with reference to the accompanying drawings.

[0060] Please see Figures 1 to 8 This is a maintenance robot provided in an embodiment of the present invention.

[0061] Among them, reference Figure 1 and Figure 2 The inspection robot includes a frame 100, a climbing device 200, a central inspection device 300, and a side inspection device 400. The climbing device 200 is mounted on the frame 100 and is used to climb along the rope 10. The central inspection device 300 is mounted on the frame 100 and is used for the inspection of the object to be inspected. The side inspection device 400 is mounted on the frame 100 and is used for the inspection of the object to be inspected.

[0062] Specifically, the climbing device 200 moves along the extension direction of the rope 10, and the climbing device 200 drives the central inspection device 300 and the side inspection device 400 to move synchronously along the extension direction of the rope 10. During the movement, the central inspection device 300 and the side inspection device 400 perform inspection on the object to be inspected. The inspection robot, by incorporating the central inspection device 300 and the side inspection device 400, and their coordinated operation, can fully inspect the object to be inspected.

[0063] For example, the inspection robot can be applied to the inspection of the main cable. In a specific implementation, the climbing device 200 climbs along the ropes 10 on both sides of the main cable. During the climbing process, the central inspection device 300 and the side inspection device 400 simultaneously inspect the protective layer on the surface of the main cable. Of course, the inspection robot can also be applied to the inspection of other components, and this application does not limit it.

[0064] The central inspection device 300 can be equipped with both a detection module and a maintenance module, or only one of these modules. Therefore, the top inspection device can be used for the inspection and / or maintenance of the main cable. Similarly, the side inspection device 400 can be equipped with both a detection module and a maintenance module, or only one of these modules. Therefore, the side inspection device can be used for the inspection and / or maintenance of the main cable.

[0065] In summary, compared with the manual maintenance of the main cable in the prior art, the present application uses the climbing device 200 to climb along the ropes 10 on both sides of the main cable, so that the central maintenance device 300 and the side maintenance device 400 can perform quick and convenient maintenance on the main cable, and the operators do not need to work at height.

[0066] In some embodiments, refer to Figure 2 and Figure 3 The climbing device 200 includes a first frame 210, a second frame 220, a power assembly 230, a first clamping assembly 244, and a second clamping assembly (see reference). Figure 8 The frame 100 is fixedly mounted on one of the first frame 210 and the second frame 220, and the first frame 210 and the second frame 220 are slidably mounted relative to each other. For ease of description, the sliding direction of the first frame 210 and the second frame 220 can be defined as the horizontal front-back direction, and the vertical horizontal direction of the sliding direction of the first frame 210 and the second frame 220 can be defined as the left-right direction.

[0067] The power assembly 230 is connected to the first frame 210 and the second frame 220, and is used to drive the first frame 210 and the second frame 220 to slide relative to each other. The first clamping assembly 244 is mounted on the rear end of the first frame 210 away from the second frame 220, and the second clamping assembly is mounted on the front end of the second frame 220 away from the first frame 210. Both the first clamping assembly 244 and the second clamping assembly are used to clamp the rope 10 (see reference). Figure 1 The control system of the climbing device 200 can control one of the first clamping component 244 and the second clamping component to be in a clamping state and the other to be in a released state. The power component 230 can drive the first frame 210 and the second frame 220 to slide relative to each other, so that the climbing device 200 can climb along the extension direction of the rope 10.

[0068] In the initial state, the first frame 210 and the second frame 220 are in a retracted state, the first clamping component 244 is clamped to the rope 10, and the second clamping component is in a released state. At this time, the power component 230 drives the second frame 220 to move forward, and the first frame 210 and the second frame 220 change from the retracted state to the extended state. Then, the second clamping component clamps at the corresponding position on the rope 10, and the first clamping component 244 is in a released state. At this time, the power component 230 drives the first frame 210 to move forward, and the first frame 210 and the second frame 220 change from the extended state to the retracted state, and the climbing device completes a section of climbing along the rope 10. By repeating the above steps, the climbing device 200 can move continuously along the rope 10, which will not be described in detail. Since the frame 100 is located on the first frame 210 or the second frame 220, and the central maintenance device 300 and the side maintenance device 400 are located on the frame 100, the climbing device 200 drives the central maintenance device 300 and the side maintenance device 400 to move along the rope 10 during the climbing process. The central maintenance device 300 and the side maintenance device 400 work together to complete the maintenance of the main cable.

[0069] In a further specific embodiment, refer to Figure 4 and Figure 5The power assembly 230 includes a power component 231, a transmission component 232, and a drive wheel 233. The power component 231 is fixedly mounted on the first frame 210, and the drive wheel 233 is connected to the drive shaft of the power component 231. The transmission component 232 is at least partially mounted on the second frame 220 along the sliding direction of the second frame 220, i.e., horizontally mounted in the front-to-back direction. The drive wheel 233 is drively connected to the transmission component 232. Specifically, when the first clamping assembly 244 is clamped to the rope 10, the second clamping assembly is in a released state, and the first frame 210 is fixed relative to the rope 10. At this time, the power component 231 drives the power wheel 233 to roll forward, thereby causing the second frame 220 to slide forward. When the first clamping assembly 244 is in a squirrel-like state, the second clamping assembly is clamped to the rope 10, and the second frame 220 is fixed relative to the rope 10. At this time, the power component 231 drives the power wheel 233 to rotate backward. The power wheel 233 then drives the transmission component 232 to move forward, and the transmission component 232 pushes the second frame 220 forward. As can be seen from the above, this application uses a relatively simple power component 230 to drive the relative movement of the first frame 210 and the second frame 220.

[0070] The transmission component 232 is one of a chain, a rack and pinion, and a belt. The two ends of the chain or belt are fixedly connected to the front and rear ends of the second frame 220, and are at least partially horizontally arranged in the front-rear direction.

[0071] In addition, the power component 230 is not limited to the above-mentioned structure. The power component 230 can also be other drive structures, such as motor linkage structure, motor crank structure, etc., all of which can complete the relative movement between the first frame 210 and the second frame 220, and complete the climbing device 200 climbing along the rope 10.

[0072] In a further specific embodiment, refer to Figure 6The first clamping assembly 244 includes a first fixed base 2441, a first bidirectional lead screw 2442, two first sliders 2443, two first clamping members 2444, and a first driving member 2445. The first fixed base 2441 is fixedly connected to the first frame 210. The first bidirectional lead screw 2442 extends in the left-right direction and is rotatably connected to the first fixed base 2441. The two first sliders 2443 are slidably disposed on the first fixed base 2441 in the left-right direction. One first slider 2443 is threadedly connected to a threaded section of the first bidirectional lead screw 2442, and a first clamping member 2444 is fixedly connected to this first slider 2443. The other first slider 2443 is threadedly connected to the other threaded section of the first bidirectional lead screw 2442, and the other first clamping member 2444 is fixedly connected to this first slider 2443. The first driving member 2445 is fixedly connected to the first fixed base 2441. The drive shaft of the first driving member 2445 is connected to the first bidirectional lead screw 2442 through a transmission structure such as a synchronous belt or gear assembly, or through a coupling. This is not limited.

[0073] In specific implementation, during the clamping phase, the first driving member 2445 drives the first bidirectional lead screw 2442 to rotate in the forward direction, and the two first sliders 2443 move in opposite directions, thereby causing the two first clamping members 2444 to move in opposite directions. The first clamping assembly 244 then transitions from a clamping state to a loosening state of the rope 10. Conversely, during the clamping phase, the first driving member 2445 drives the first bidirectional lead screw 2442 to rotate in the reverse direction, and the two first sliders 2443 move in a relatively close direction, thereby causing the two first clamping members 2444 to move in a relatively close direction. The first clamping assembly 244 then transitions from a loosening state to a clamping state of the rope 10.

[0074] Similarly, the second clamping assembly includes a second fixed base, a second bidirectional lead screw, two second sliders, two second clamping members, and a second driving member. The second fixed base is fixedly connected to the second frame 220. The second bidirectional lead screw extends in the left-right direction and is rotatably connected to the second fixed base. The two second sliders are slidably disposed on the second fixed base in the left-right direction. One second slider is threadedly connected to a threaded section of the second bidirectional lead screw, and a second clamping member is fixedly connected to this second slider. The other second slider is threadedly connected to the other threaded section of the second bidirectional lead screw, and the other second clamping member is fixedly connected to this second slider. The second driving member is fixedly connected to the second fixed base. The drive shaft of the second driving member is driven by the second bidirectional lead screw, for example, through a synchronous belt, gear assembly, or other transmission structure, or directly through a coupling; this is not limited.

[0075] In some embodiments, refer to Figure 4and Figure 8 The climbing device 200 includes a first roller assembly 245 and a second roller assembly. The first roller assembly 245 is located at the rear end of the first frame 210, and its roller structure is used to roll forward along the rope 10. The second roller assembly is located at the front end of the second frame 220, and its roller structure is also used to roll forward along the rope 10. Thus, the first roller assembly 245 and the second roller assembly cooperate to support the climbing device 200, thereby supporting the central maintenance device 300 and the side maintenance device 400. In summary, when the climbing device 200 climbs forward, it utilizes the roller structures of the first roller assembly 245 and the second roller assembly to roll along the rope 10, enabling the maintenance robot to smoothly slide along the rope 10.

[0076] Among them, reference Figure 7 The first roller assembly 245 includes a first mounting base 2451, a first swing arm 2452, a first roller structure 2453, and a first buffer structure 2454. One end of the first mounting base 2451 is fixedly connected to the rear end of the first frame 210. One end of the first swing arm 2452 is rotatably connected to the middle position of the first mounting base 2451, and the other end is connected to the first roller structure 2453. The first roller structure 2453 is used to roll on the rope 10. One telescopic end of the first buffer structure 2454 is rotatably connected to the other end of the first mounting base 2451, and the other telescopic end is rotatably connected to the middle position of the first swing arm 2452. The first buffer structure 2454 is used to buffer the swing of the first swing arm 2452.

[0077] Similarly, the second roller assembly includes a second mounting base, a second rocker arm, a second roller structure, and a second buffer structure. One end of the second mounting base is fixedly connected to the rear end of the second frame 220. One end of the second rocker arm is rotatably connected to the middle position of the second mounting base, and the other end is connected to the second roller structure, which is used to roll on the rope 10. One telescopic end of the second buffer structure is rotatably connected to the other end of the second mounting base, and the other telescopic end is rotatably connected to the middle position of the second rocker arm. The second buffer structure is used to buffer the swing of the second rocker arm.

[0078] It is understandable that the first roller assembly 245 and the second roller assembly adopt the above-described structural form. When the maintenance robot travels along the rope 10, the buffering effect of the first buffer structure 2454 on the first swing arm 2452 and the buffering effect of the second buffer structure on the second swing arm provide a buffering effect on the climbing device 200, enabling the climbing device 200 to climb stably along the rope 10.

[0079] Furthermore, the first buffer structure 2454 includes a first sleeve 2455, a first telescopic rod 2456, and a first elastic element 2457. One end of the first sleeve 2455 is rotatably connected to the end of the first mounting base 2451, and one end of the first telescopic rod 2456 is rotatably connected to the middle position of the first swing rod 2452. The first sleeve 2455 is at least partially slidably sleeved on the outside of the first telescopic rod 2456. Meanwhile, the outer wall of the first sleeve 2455 is provided with a raised edge, and the outer side of the first telescopic rod 2456 is also provided with a raised edge. A portion of the first elastic element 2457 is sleeved on the first sleeve 2455 and abuts against the raised edge of the outer wall of the first sleeve 2455. The other portion of the first elastic element 2457 is sleeved on the outer side of the first telescopic rod 2456 and abuts against the raised edge of the outer wall of the first telescopic rod 2456. Thus, when the first sleeve 2455 and the first telescopic rod 2456 contract, the first elastic element 2457 is compressed, thereby producing a buffering effect. It can be understood that the overall structure of the first buffer structure 2454 is relatively simple, and obviously, the connection strength of the buffer structure is good, and it has a good buffering effect.

[0080] Similarly, the second buffer structure includes a second sleeve, a second telescopic rod, and a second elastic element. One end of the second sleeve is rotatably connected to the end of the second mounting base, and one end of the second telescopic rod is rotatably connected to the middle position of the second swing rod. The second sleeve is at least partially slidably fitted onto the outside of the second telescopic rod. Simultaneously, the outer wall of the second sleeve is provided with a raised edge, and the outer side of the second telescopic rod is also provided with a raised edge. A portion of the second elastic element is fitted onto the second sleeve and abuts against the raised edge of the outer wall of the second sleeve. The other portion of the second elastic element is fitted onto the outside of the second telescopic rod and abuts against the raised edge of the outer wall of the second telescopic rod. Thus, when the second sleeve and the second telescopic rod contract, the second elastic element is compressed, thereby producing a buffering effect.

[0081] In some embodiments, refer to Figure 3 , Figure 8 and Figure 9 The climbing device 200 also includes a first climbing mechanism 240 and a second climbing mechanism 250. The first climbing mechanism 240 is connected to the rear end of the first frame and is used to support the rear end of the climbing device 200. The second climbing mechanism 250 is connected to the end of the second frame 220 and is used to support the front end of the climbing device 200. Thus, the first climbing mechanism 240 and the second climbing mechanism 250 cooperate to support the maintenance robot.

[0082] The first climbing mechanism 240 includes a first base 241, a first drive assembly 242, two first sliding seats 243, at least two first roller assemblies 245, and at least two first clamping assemblies 244. The first base 241 is fixedly disposed at the rear end of the first frame 210. The two first sliding seats 243 are slidably disposed on the first base 241 in a left-right direction, i.e., the sliding direction is perpendicular to the sliding direction of the first frame 210 relative to the second frame 220. The first drive assembly 242 is disposed on the first base 241 and is used to drive the two first sliding seats 243 to move relative to each other or closer together. Each first sliding seat 243 is provided with the aforementioned first roller assembly 245 and the aforementioned first clamping assembly 244, which will not be described in detail here.

[0083] Similarly, the second climbing mechanism 250 includes a second base, a second drive assembly, two second sliding seats, at least two of the aforementioned second roller assemblies, and at least two of the aforementioned second clamping assemblies. The second base is fixedly disposed at the front end of the second frame 220. The two second sliding seats are slidably disposed on the second base in a left-right direction, i.e., the sliding direction is perpendicular to the sliding direction of the second frame 220 relative to itself. The second drive assembly is disposed on the second base and is used to drive the two second sliding seats to move relative to each other. Each second sliding seat is provided with the aforementioned second roller assembly and the aforementioned second clamping assembly, which will not be described in detail here.

[0084] In practical applications, ropes 10 are provided on both sides of the main cable. A first clamping component 244 and a first roller assembly 245 on a first sliding seat 243 are applied to the rope 10 on one side of the main cable, and a second clamping component and a second roller assembly on a second sliding seat are also applied to the rope 10. Similarly, a first clamping component 244 and a first roller assembly 245 on another first sliding seat 243 are applied to the rope 10 on the other side of the main cable, and a second clamping component and a second roller assembly on another second sliding seat are also applied to the rope 10.

[0085] Because the spacing between the ropes 10 on both sides of the main cable is variable, the climbing device 200 may not be able to adapt to the position of the ropes 10. In this application, when the climbing device 200 is used, the first drive structure 2421 drives the two first sliding seats 243 to move relatively closer or relatively farther apart according to the spacing between the two ropes 10, so that the spacing between the two first clamping components 244 adapts to the spacing between the two ropes 10, and the spacing between the two first clamping components 244 also adapts to the spacing between the two ropes 10; at the same time, the second drive structure drives the two second sliding seats to move relatively closer or relatively farther apart, so that the spacing between the two second clamping components adapts to the spacing between the two ropes 10, and the spacing between the two second clamping components also adapts to the spacing between the two ropes 10. As can be seen from the above, the climbing device 200 in this application has good flexibility, can adapt to ropes 10 with any spacing, and is convenient to use.

[0086] Instead of using the first driving component 242 to drive both first sliding seats 243 simultaneously, each first sliding seat 243 can also be provided with an independent driving component, with one driving component driving one first sliding seat 243 to move. Similarly, instead of using the second driving component to drive both second sliding seats simultaneously, each second sliding seat can also be provided with an independent driving component, with one driving component driving one second sliding seat to move.

[0087] Furthermore, the first drive assembly 242 includes two first lead screws 2427, two first universal joint structures 2424, and a first drive structure 2421. Both first lead screws 2427 are rotatably mounted on the first base 241 and aligned with the central axis. The thread directions of the two first lead screws 2427 can be the same or opposite. One first sliding seat 243 is threadedly connected to one first lead screw 2427, and the other first sliding seat 243 is threadedly connected to the other first lead screw 2427. The opposite ends of the two first lead screws 2427 are respectively connected to the first universal joint structures 2424, and the two output ends of the first drive structure 2421 are respectively connected to the two first universal joint structures 2424. Specifically, the first drive structure 2421 simultaneously drives two first lead screws 2427 to rotate via the first universal joint structure 2424. The two first lead screws 2427 respectively drive the corresponding first sliding seats 243 to slide, thereby adjusting the sliding of the corresponding first clamping assembly 244 and first roller assembly 245. If the thread directions of the two first lead screws 2427 are the same, the first drive structure 2421 drives the two first lead screws 2427 to rotate in opposite directions, thus allowing the two first sliding seats 243 to move relatively closer or relatively farther apart. If the thread directions of the two first lead screws 2427 are different, the first drive structure 2421 drives the two first lead screws 2427 to rotate in the same direction, thus allowing the two first sliding seats 243 to move relatively closer or relatively farther apart.

[0088] Similarly, the second drive assembly includes two second lead screws, two second universal joint structures, and a second drive structure. Both second lead screws are rotatably mounted on the second base and aligned with the central axis. The thread directions of the two second lead screws can be the same or opposite. One second sliding seat is threadedly connected to one second lead screw, and the other second sliding seat is threadedly connected to the other second lead screw. The opposite ends of the two second lead screws are respectively connected to the second universal joint structures, and the two output ends of the second drive mechanism are respectively connected to the two second universal joint structures. Specifically, the second drive structure simultaneously drives the two second lead screws to rotate through the second universal joint structures. The two second lead screws respectively drive the corresponding second sliding seats to slide, thereby adjusting the sliding of the corresponding second clamping assembly and second roller assembly. If the thread directions of the two second lead screws are the same, the second drive structure drives the two second lead screws to rotate in opposite directions, allowing the two second sliding seats to move closer or further apart. If the thread directions of the two second lead screws are different, the second drive structure drives the two second lead screws to rotate in the same direction, allowing the two second sliding seats to move closer or further apart.

[0089] Furthermore, the first drive structure 2421 includes a first drive member 2422 and a first reduction gearbox 2423. The first reduction gearbox 2423 is disposed between two first universal joint structures 2424, and the two output ends of the first reduction gearbox 2423 are respectively connected to the corresponding first universal joint structures 2424 for transmission. The first drive member 2422 is fixedly disposed on the first base 241, and the drive shaft of the first drive member 2422 is connected to the input shaft of the first reduction gearbox 2423. The first universal joint structure 2424, through its placement, can absorb the radial tolerance between the first lead screw 2427 and the conveying shaft of the first reduction gearbox 2423, facilitating the connection between the first reduction gearbox 2423 and the first lead screw 2427.

[0090] Similarly, the second drive structure includes a second drive component and a second reduction gearbox. The second reduction gearbox is positioned between two second universal joint structures, and its two output ends are respectively connected to the corresponding second universal joint structures. The second drive component is fixedly mounted on the second base, and its drive shaft is connected to the input shaft of the second reduction gearbox. The second universal joint structure absorbs the radial tolerance between the second lead screw and the transmission shaft of the second reduction gearbox, facilitating the connection between the second reduction gearbox and the second lead screw.

[0091] The first universal joint structure 2424 includes a first adapter rod 2425 and two first universal joints 2426. The first adapter rod 2425 is disposed between the output shaft of the first gearbox 2423 and the first lead screw 2427. One first universal joint 2426 is connected between one end of the first adapter rod 2425 and the first lead screw 2427, and the other first universal joint 2426 is connected between the other end of the first adapter rod 2425 and the output shaft of the first gearbox 2423. As can be seen from the above, by adopting the above-described structure, the first adapter structure increases the overall length of the first universal joint structure 2424, thereby further facilitating the transmission connection between the first lead screw 2427 and the first gearbox 2423.

[0092] Similarly, the second universal joint structure includes a second adapter rod and two second universal joints. The second adapter rod is positioned between the output shaft of the second gearbox and the second lead screw. One second universal joint connects one end of the second adapter rod to the second lead screw, and the other second universal joint connects the other end of the second adapter rod to the output shaft of the second gearbox. As can be seen, this structural form of the second universal joint increases the overall length of the second universal joint structure, thereby further facilitating the transmission connection between the second lead screw and the second gearbox.

[0093] In some embodiments, refer to Figure 2 and Figure 9 The central inspection device 300 includes a first lifting mechanism 310 and a first maintenance mechanism 320. The first lifting mechanism 310 is mounted on the top frame 110, and the first maintenance mechanism 320 is mounted on the first lifting mechanism 310. The first lifting mechanism 310 controls the up-and-down movement of the first maintenance mechanism 320. Specifically, when the first maintenance mechanism 320 is performing maintenance on the main cable 20, the first lifting mechanism 310 controls the first maintenance mechanism 320 to move away from or closer to the main cable 20, thereby enabling the first maintenance mechanism 320 to perform maintenance on the main cable 20 more conveniently.

[0094] In a further specific embodiment, the first lifting mechanism 310 includes a first support 311, a second support 312, a connecting rod assembly 313, and a power output assembly 314. The first support 311 is fixedly connected to the top frame 110, and the second support 312 is located below the first support 311 and above the main cable 20. The connecting rod assembly 313 connects the first support 311 and the second support 312. The power output assembly 314 is disposed on one of the first support 311 and the second support 312, and drives the second support 312 to move up and down through the connecting rod assembly 313. Since the first maintenance mechanism 320 is disposed below the second support 312, the power output assembly 314 controls the up and down movement of the first maintenance mechanism 320 when driving the second support 312 to move up and down.

[0095] The linkage assembly 313 includes a first linkage 3131 and a second linkage 3132. The middle portion of the first linkage 3131 is rotatably connected to the middle portion of the second linkage 3132. The lower end of the first linkage 3131 is rotatably and slidably connected to the second support 312, and the upper end is rotatably connected to the first support 311. The lower end of the second linkage 3132 is rotatably connected to the second support 312, and the upper end is rotatably and slidably connected to the first support 311. A power output assembly 314 can be disposed on the second support 312. A power assembly 230 is connected to the first linkage 3131 and is used to drive the lower end of the first linkage 3131 to slide, thereby causing the first linkage 3131 and the second linkage 3132 to rotate relative to each other, thereby controlling the up and down movement of the second support 312. Alternatively, the power output assembly 314 can be disposed on the first support 311, and the power assembly 230 can be connected to the second link 3132 to drive the upper end of the second link 3132 to slide, thereby causing the first link 3131 and the second link 3132 to rotate relative to each other, thereby controlling the second support 312 to move up and down.

[0096] The power assembly 230 can use a motor to drive a chain, rack, or other structure to drive the linkage assembly 313.

[0097] In some embodiments, refer to Figure 2 and Figure 10 The side inspection device 400 includes a second lifting mechanism 410 and a second maintenance mechanism 420. The second lifting mechanism 410 is disposed on the side frame 120, and the second maintenance mechanism 420 is disposed on the second lifting mechanism 410. The second lifting mechanism 410 is used to control the up and down movement of the second maintenance mechanism 420. Specifically, when the second maintenance mechanism 420 is performing maintenance on the main cable 20, the second lifting mechanism 410 controls the second maintenance mechanism 420 to move away from or closer to the main cable 20, thereby enabling the second maintenance mechanism 420 to perform maintenance on the main cable 20 more conveniently.

[0098] The second lifting mechanism 410 can adopt various lifting mechanisms, such as chain or sprocket lifting structures, gear or rack lifting structures, or screw lifting structures, etc.

[0099] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

Claims

1. A maintenance robot, characterized in that, include: frame; A climbing device, installed on the frame, is used for climbing along ropes; A central inspection device is installed on the frame for inspecting the object to be inspected; A side inspection device is installed on the frame and is used for the inspection of the object to be inspected. The climbing device includes: First framework; The second frame is slidably positioned relative to the first frame; A power component, connected to the first frame and the second frame, is used to drive the first frame and the second frame to slide relative to each other; A first clamping assembly is disposed on the first frame for clamping a rope; A second clamping assembly, disposed on the second frame, is used to clamp a rope; Wherein, one of the first clamping component and the second clamping component is in a clamping state and the other is in a released state, and the power component can drive the first frame and the second frame to slide relative to each other so that the climbing device can climb along the rope; The climbing device also includes: The first climbing mechanism includes a first driving component, two first sliding seats, at least two first roller components and at least two first clamping components. The two first sliding seats are slidably disposed on the first frame, and the sliding direction is perpendicular to the sliding direction of the first frame relative to the second frame. The first driving component is used to drive the two first sliding seats to move away from or towards each other. Each first sliding seat is provided with the first roller component and the first clamping component. The second climbing mechanism includes a second drive assembly, two second sliding seats, at least two second roller assemblies, and at least two second clamping assemblies. The two second sliding seats are slidably disposed on the second frame, and the sliding direction is perpendicular to the sliding direction of the second frame relative to the first frame. The second drive assembly is used to drive the two second sliding seats to move away from or closer to each other. Each second sliding seat is provided with a second roller assembly and a second clamping assembly.

2. The maintenance robot according to claim 1, characterized in that, The power assembly includes: The power component is fixedly mounted on the first frame; The transmission component is at least partially disposed on the second frame along the sliding direction of the second frame; The drive wheel is connected to the drive shaft of the power component, and the drive wheel is connected to the transmission component for transmission.

3. A maintenance robot according to claim 2, characterized in that, The transmission component is one of a chain, a rack and pinion, or a belt.

4. The maintenance robot according to claim 1, characterized in that, The climbing device also includes: A first roller assembly is disposed on the first frame, wherein the rollers of the first roller assembly are used to roll on the rope; A second roller assembly is disposed on the second frame, wherein the rollers of the second roller assembly are used to roll on the rope.

5. A maintenance robot according to claim 4, characterized in that, The first roller assembly includes a first mounting base, a first rocker arm, a first roller structure, and a first buffer structure. The first mounting base is fixedly disposed on the first frame. One end of the first rocker arm is rotatably connected to the first mounting base, and the other end is connected to the first roller structure. The first buffer structure is connected to the first mounting base and the first rocker arm to buffer the swing of the first rocker arm. The second roller assembly includes a second mounting base, a second rocker arm, a second roller structure, and a second buffer structure. The second mounting base is fixedly mounted on the second frame. One end of the second rocker arm is rotatably connected to the second mounting base, and the other end is connected to the second roller structure. The second buffer structure is connected to the second mounting base and the second rocker arm to buffer the swing of the second rocker arm.

6. A maintenance robot according to claim 5, characterized in that, The first buffer structure includes a first sleeve, a first telescopic rod, and a first elastic element. The first sleeve is rotatably connected to the first mounting base, the first telescopic rod is rotatably connected to the first swing rod, and the first telescopic rod is slidably connected to the first sleeve. The first elastic element is disposed on the first sleeve and the first telescopic rod to buffer the relative close movement of the first sleeve and the first telescopic rod. The second buffer structure includes a second sleeve, a second telescopic rod, and a second elastic element. The second sleeve is rotatably connected to the second mounting base, the second telescopic rod is rotatably connected to the second swing rod, and the second telescopic rod is slidably connected to the second sleeve. The second elastic element is disposed on the second sleeve and the second telescopic rod to buffer the relative close movement of the second sleeve and the second telescopic rod.

7. A maintenance robot according to claim 1, characterized in that, The first drive assembly includes two first lead screws, two first universal joint structures, and a first drive structure. The two first lead screws are rotatably mounted on the first frame and threadedly connected to the first sliding seat. The two first universal joint structures are respectively connected to the ends of the first lead screws. The first drive structure is simultaneously connected to the two first universal joint structures to drive the two first lead screws to rotate in the same or opposite directions at the same time. The second drive assembly includes two second lead screws, two second universal joint structures, and a second drive structure. The two second lead screws are rotatably mounted on the second frame and threadedly connected to the second sliding seat. The two second universal joint structures are respectively connected to the ends of the second lead screws. The second drive structure is simultaneously connected to the two second universal joint structures to drive the two second lead screws to rotate in the same or opposite directions at the same time.

8. A maintenance robot according to claim 1, characterized in that, The central maintenance device includes: A first lifting mechanism is disposed on the frame; The first maintenance mechanism is located on the first lifting mechanism, and the first lifting mechanism is used to control the up and down movement of the first maintenance mechanism. The side inspection device includes: A second lifting mechanism is provided on the frame; The second maintenance mechanism is located within the second lifting mechanism, which controls the up-and-down movement of the second maintenance mechanism.

Images