Saddle-shaped traction quadruped obstacle-crossing cable detection robot

Abstract

The application provides a saddle-shaped traction four-foot obstacle-crossing cable detection robot, and belongs to the technical field of cable detection robots.The existing cable detection robots cannot realize online detection of cables with multiple obstacles, large slopes, long spans and the like.The present application solves the problem.The saddle-shaped traction four-foot obstacle-crossing cable detection robot comprises a bearing traction frame, a front traction rope, a rear traction combined cable, a four-foot obstacle-crossing mechanism, a magnetic sensor mechanism, a detected cable and an electric cabinet.The whole bearing traction frame is in a saddle-shaped structure.The bearing traction frame is arranged on the detected cable.The front traction rope and the rear traction combined cable are respectively connected to the front and rear ends of the bearing traction frame.The electric cabinet is arranged below the bearing traction frame.The front end of the electric cabinet is provided with a visual mechanical arm.The four-foot obstacle-crossing mechanism and the magnetic sensor mechanism are arranged in the bearing traction frame.The four-foot obstacle-crossing mechanism and the magnetic sensor mechanism are connected to the detected cable.The present application is mainly used for cable detection.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cable detection robots, and particularly relates to a saddle-shaped traction four-legged obstacle-crossing cable detection robot. BACKGROUND

[0002] At present, cables have been widely used in bridges, power, construction and mining industries, in addition, many large buildings such as airports, stadiums and FAST also adopt cable structures. When the cable of the building is detected, for a long period of time, two methods are mainly used, one is to use a hydraulic lifting platform for cable detection for small cable buildings, and the other is to use a pre-installed tower top hoisting point to pull a hanging basket with a steel wire to carry workers along the cable for detection. The manual carrying equipment method for cable detection work not only has low efficiency, but also has poor safety and high cost, and in some cases, personnel and equipment cannot reach the site. In practical application, in addition to the cable structure, there is also a cable driving mechanism. For example, the FAST radio telescope is a cable parallel mechanism. The driving branch chain is a flexible steel cable. The cable driving mechanism has the advantages of low weight-span ratio, making it have unique application fields, such as simulators, wind tunnel tests, telescope feed support systems and the like. However, if only the use of steel cables or other metal cables is considered, the application occasions are more, such as high-voltage power transmission, bridges, buildings, high mountain manned cable and the like.

[0003] Safety is the primary factor for the use of cables. Generally speaking, the selection of steel cables is mainly based on the working environment, and a certain safety factor is selected according to the working stress to ensure that it can work safely within the working life. However, the steel cable may still fatigue and break within its working life. Fatigue and breakage do not occur instantaneously. Before fatigue and breakage, the steel cable will generally show signs of damage such as broken wires, corrosion and damage. If these damages can be detected early, the replacement time of the steel cable can be determined according to the damage degree, and the steel cable can be replaced in time, which can effectively prevent the occurrence of breakage.

[0004] At present, for cables with large span and difficult to approach for detection, the main detection methods include three categories: telescope detection, remote control aircraft detection and detection robot detection. The telescope inspection has too many dead angles and it is difficult to realize the detection of the whole cable section; the remote control aircraft detection is difficult to operate and difficult to adapt to the curvature change of the cable, and the vibration also makes the transmission picture unstable; the detection robot mainly takes a mobile robot as a carrier and takes a visible light camera, an infrared thermal imager and other detection instruments as a load system. In theory, the detection robot is the most likely tool to realize the detection of the cable in all directions.

[0005] The current research hotspot of cable detection robot focuses on the high-voltage transmission line cable detection and maintenance field. The research on the high-voltage transmission line cable detection robot has been carried out for 30 years, but until nearly 10 years, the cable detection robot can realize the obstacle crossing and slope walking at the same time. In order to realize the obstacle crossing ability of the cable detection robot, the current mechanism design mostly relies on the long-armed ape action principle, and the related design results mainly include two types: one type is the structure combined with the moving arm and the multi-joint, such as the autonomous line inspection robot prototype developed by the TRC company of the United States in 1989. Expliner developed by the HiBot company of Japan and Tokyo Institute of Technology; the other type is the structure combined with the grabbing wheel, the moving arm and the sliding track, such as the LineScout newly developed by the Quebec Hydropower Research Institute of Canada in 2008, which can realize the crossing of six specific obstacles with specific specifications and sizes. Domestic institutes such as the Institute of Automation of the Chinese Academy of Sciences and Shenyang Institute of Automation also develop the same type of detection robots.

[0006] The above scheme is only applicable to the flat and single obstacle form fixed working condition, and the existing cable detection robots cannot detect the cable with multiple obstacles, large slope and long span. SUMMARY

[0007] Therefore, the present application aims to provide a saddle-shaped traction four-legged obstacle-crossing cable detection robot to solve the problem that the existing cable detection robots cannot detect the cable with multiple obstacles, large slope and long span.

[0008] To achieve the above purpose, the application adopts the following technical scheme: a saddle-shaped traction four-legged obstacle-crossing cable detection robot, which comprises a load-bearing traction frame, a front traction rope, a rear traction combined cable, a four-legged obstacle-crossing mechanism, a magnetic sensor mechanism, a detected cable and an electrical cabinet, the overall load-bearing traction frame is in a saddle-shaped structure, the load-bearing traction frame is arranged on the detected cable, the front traction rope and the rear traction combined cable are respectively connected to the front and rear ends of the load-bearing traction frame, the electrical cabinet is arranged below the load-bearing traction frame, a visual mechanical arm is telescopically arranged at the front end of the electrical cabinet, the four-legged obstacle-crossing mechanism and the magnetic sensor mechanism are both arranged inside the load-bearing traction frame, the magnetic sensor mechanism is arranged at the middle position of the four-legged obstacle-crossing mechanism, and the four-legged obstacle-crossing mechanism and the magnetic sensor mechanism are both connected with the detected cable.

[0009] Further, the detected cable is provided with a cable accessory.

[0010] Further, the force bearing traction frame comprises a traction frame and a robot frame, the traction frame is arranged above the robot frame, the front end of the traction frame is rotationally connected with the robot frame, the rear end of the traction frame is arranged to open and close with the robot frame, the two sides of the bottom of the front end of the traction frame are rotationally connected with the front end of the robot frame through rotating shafts, the two sides of the rear end of the traction frame are connected with sliding rods, the two sides of the rear end of the robot frame are provided with sliding rod bearing seats, the top end of the sliding rod is rotationally connected with the traction frame, the bottom end of the sliding rod penetrates through the sliding seat and is slidingly connected with the sliding rod bearing seat, and a buffer spring is arranged on the sliding rod between the bottom end of the sliding rod and the sliding rod bearing seat.

[0011] Further, the front and rear ends of the traction frame are provided with traction points, and the front traction rope and the rear traction combined cable are connected with the traction points at the front and rear ends of the traction frame respectively.

[0012] Further, the four-foot obstacle crossing mechanism comprises two groups of step support foot assemblies, the two groups of step support foot assemblies are arranged in the robot frame in a sliding manner, each group of step support foot assemblies comprises left step support feet and right step support feet arranged alternately, and the left step support feet and the right step support feet are used for crossing the cable accessory in sequence.

[0013] Further, the inner walls on the left and right sides of the robot frame are provided with positioning and force bearing guide rails, force bearing guide rails and auxiliary support guide rails, and the left step support feet and the right step support feet are slidingly connected with the robot frame through the positioning and force bearing guide rails, the force bearing guide rails and the auxiliary support guide rails.

[0014] Further, the left step support feet and the right step support feet are completely same in structure and each comprise a lifting drive electric cylinder assembly, a guide shaft, a support foot assembly, a translation seat and a step driving assembly, the translation seat is slidingly connected to the inner side wall of the robot frame, the support foot assembly is arranged above the translation seat in a lifting manner in the vertical direction, the bottom of one end of the support foot assembly is provided with a plurality of guide shafts, one end of the guide shaft is connected with the support foot assembly, and the other end penetrates through the translation seat and is slidingly matched with the translation seat, the lifting drive electric cylinder assembly is arranged below the translation seat, the lifting drive electric cylinder assembly drives the lifting of the support foot assembly, the step driving assembly is connected with the robot frame, and the step driving assembly is used for driving the linear movement of the translation seat.

[0015] Further, the two sides of the translation seat are provided with translation sliders, and the translation seat is slidingly connected with the positioning and force bearing guide rails, the force bearing guide rails and the auxiliary support guide rails through the translation sliders.

[0016] Further, the step driving assembly comprises a step driving screw and a step driving motor, the step driving motor is connected with the bottom of the magnetic sensor mechanism, the step driving screw is rotationally connected on the inner side wall of the robot frame, and the step driving screw is in threaded cooperation with the corresponding translation seat.

[0017] Further, the support foot assembly comprises a support foot bearing frame, a special-shaped gear connecting rod and a cable anti-rotation seat, the special-shaped gear connecting rod and the cable anti-rotation seat are rotationally arranged on the support foot bearing frame, one end of the support foot bearing frame is provided with a cable anti-rotation driving motor, the other end is provided with a support wheel, the output end of the cable anti-rotation driving motor is provided with a cable anti-rotation driving bevel gear, coaxial cable anti-rotation transmission bevel gears and transmission gears are arranged on the support foot bearing frame, the cable anti-rotation driving bevel gear is in meshing transmission with the cable anti-rotation transmission bevel gear, the gear part of the special-shaped gear connecting rod is in meshing transmission with the transmission gear, the connecting rod part of the special-shaped gear connecting rod is connected with the cable anti-rotation seat through a cable anti-rotation support connecting rod, one end of the cable anti-rotation seat is rotationally connected with the support foot bearing frame, the other end is provided with a cable anti-rotation wheel, and the detected cable is matched with the support wheel and the cable anti-rotation wheel.

[0018] Compared with the prior art, the beneficial effects of the present application are:

[0019] 1、The overall shape of the cable detection robot is arranged in a saddle type structure, the robot is in the form of riding a horse when detecting the cable, and the overall gravity center of the robot is below the cable, so that the side turning can be effectively prevented.

[0020] 2、The four-foot obstacle crossing mechanism is arranged in the internal structure, the support function of the robot itself on the cable is realized, and the agile obstacle crossing function under different shapes of obstacles on the cable is realized.

[0021] 3、The traction frame is arranged, and the front and rear double traction driving mode is adopted, so that the stable walking function of the robot on the flat slope or large slope is realized.

[0022] 4、The support foot of the cable detection robot is arranged as a force arm characteristic anti-disengagement wheel structure by using the characteristics of gears and connecting rods, so that the stable and reliable anti-disengagement force of the robot from the cable reaction force caused by bumping during walking can be realized.

[0023] 5、The robot is used as a carrier, the magnetic sensor mechanism is carried, and the cable and its accessories are detected while the robot is walking and crossing obstacles. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which form a part of this application, are intended to provide further understanding of the application and are incorporated herein in their entirety, and they show that:

[0025] Figure 1 An isometric view of the overall structure of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0026] Figure 2 A front view of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0027] Figure 3 A side view of the load-bearing pulling frame structure of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0028] Figure 4 A front view of the load-bearing pulling frame structure of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0029] Figure 5 An isometric view of the load-bearing pulling frame structure of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0030] Figure 6 An isometric view of the load-bearing pulling frame structure of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application, when the pulling frame is open;

[0031] Figure 7 An isometric view of the internal distribution of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0032] Figure 8 An isometric view of the magnetic sensor mechanism of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0033] Figure 9 A layout view of the four-legged obstacle-crossing mechanism of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0034] Figure 10 A structural schematic view of one side of the four-legged obstacle-crossing mechanism of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0035] Figure 11 A structural schematic view of the left stride support foot or right stride support foot of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0036] Figure 12 A structural isometric view of the support foot assembly of a saddle-pulled four-legged obstacle-crossing cable inspection robot according to the present application;

[0037] Figure 13 A cross-sectional view of the cable anti-drop wheel in the closed state in a support foot assembly of a saddle-shaped traction four-legged obstacle-crossing cable inspection robot according to the present application;

[0038] Figure 14 A cross-sectional view of the cable anti-drop wheel in the open state in a support foot assembly of a saddle-shaped traction four-legged obstacle-crossing cable inspection robot according to the present application.

[0039] 1 - rear traction combined cable, 2 - load-bearing traction frame, 3 - front traction rope, 4 - four-legged obstacle-crossing mechanism, 5 - magnetic sensor mechanism, 6 - electrical cabinet, 7 - visual mechanical arm, 8 - cable to be inspected, 9 - cable accessory, 10 - traction frame, 11 - robot frame, 12 - rotating shaft, 13 - sliding rod bearing seat, 14 - sliding rod, 15 - step support foot assembly, 16 - step drive lead screw, 17 - step drive motor, 18 - positioning and load-bearing guide rail, 19 - load-bearing guide rail, 20 - auxiliary support guide rail, 21 - lifting drive electric cylinder assembly, 22 - guide shaft, 23 - translation seat, 24 - support wheel, 25 - cable anti-drop wheel, 26 - cable anti-drop drive motor, 27 - cable anti-drop drive bevel gear, 28 - cable anti-drop transmission bevel gear, 29 - transmission gear, 30 - special-shaped gear connecting rod, 31 - cable anti-drop support connecting rod, 32 - cable anti-drop rotating seat, 33 - support foot load-bearing frame. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only some of the embodiments of the present application, but not all the embodiments.

[0041] Reference is made to Figures 1-14The embodiment is illustrated by a saddle-shaped traction four-legged obstacle-crossing cable detection robot, which comprises a bearing traction frame 2, a front traction rope 3, a rear traction combined cable 1, a four-legged obstacle-crossing mechanism 4, a magnetic sensor mechanism 5, a detected cable 8 and an electric cabinet 6. The bearing traction frame 2 is in a saddle-shaped structure as a whole, the bearing traction frame 2 is arranged on the detected cable 8, the front traction rope 3 and the rear traction combined cable 1 are connected to the front and rear ends of the bearing traction frame 2 respectively, the electric cabinet 6 is arranged below the bearing traction frame 2, a visual mechanical arm 7 is arranged at the front end of the electric cabinet 6 in an extension mode, the four-legged obstacle-crossing mechanism 4 and the magnetic sensor mechanism 5 are arranged in the bearing traction frame 2, wherein the four-legged obstacle-crossing mechanism 4 is the main mechanism for realizing the cable walking and obstacle-crossing of the robot, the magnetic sensor mechanism 5 is arranged at the middle position of the four-legged obstacle-crossing mechanism 4 and is the main device for detecting the internal defects of the detected cable 8, the four-legged obstacle-crossing mechanism 4 and the magnetic sensor mechanism 5 are connected with the detected cable 8, in the embodiment, the overall shape of the cable detection robot is arranged in a saddle-shaped structure, the robot is in a horse-riding mode when detecting the detected cable 8, and the overall gravity center of the robot is below the detected cable 8, which can effectively prevent the robot from rolling over, in the actual test process, the bearing traction frame 2 is the main force receiving part, the electric cabinet 6 and the visual mechanical arm 7 are fixedly connected below the bearing traction frame 2, which can meet the use requirements and increase the weight of the robot to ensure that the gravity center of the robot is below, the visual mechanical arm 7 can be retracted into the electric cabinet 6, which can reduce the overall size, realize the lightweight and facilitate the transportation effect.

[0042] In the embodiment, the front traction rope 3 and the rear traction combined cable 1 are respectively installed to the front and rear traction point positions of the bearing traction frame 2, the pulling forces of the front and rear traction ropes are coordinated and controlled to realize the movement of the robot.

[0043] In the embodiment, the detected cable 8 is provided with a cable accessory 9, when the cable detection robot encounters the cable accessory 9, the four-legged obstacle-crossing mechanism 4 is used to walk over the obstacle.

[0044] The force bearing traction frame 2 in the embodiment comprises a traction frame 10 and a robot frame 11, the traction frame 10 is arranged above the robot frame 11, the front end of the traction frame 10 is rotationally connected with the robot frame 11, the rear end of the traction frame 10 is arranged to open and close with the robot frame 11, the two sides of the bottom of the front end of the traction frame 10 are rotationally connected with the front end of the robot frame 11 through rotating shafts 12, the rear end of the traction frame 10 is connected with sliding rods 14 on the two sides, the rear end of the robot frame 11 is provided with sliding rod bearing seats 13 on the two sides, the top end of the sliding rod 14 is rotationally connected with the traction frame 10, the bottom end of the sliding rod 14 is slidably connected with the sliding rod bearing seat 13 through the sliding seat, the sliding rod 14 is sleeved with buffer springs between the bottom end of the sliding rod 14 and the sliding rod bearing seat 13, in the actual test process, the robot frame 11 is the main component of robot integration and force bearing, the traction frame 10 is assembled to the robot frame 11 through the rotating shafts 12, at this time, the traction frame 10 can rotate on the robot frame 11 along the rotating shafts 12, and the traction frame 10 is connected with the sliding rod bearing seat 13 on the robot frame 11 through the sliding rod 14 at the rear end of the traction frame 10, the sliding rod 14 is limited by the sliding rod bearing seat 13, and the sliding rod 14 is provided with buffer springs, so that the strength of the traction frame 10 and the limiting and buffering effect are enhanced, in the traction state, when the traction frame 10 has a front and rear overturning trend due to the traction force, the traction frame 10 is passively reversed, so that the support foot is always pressed on the measured cable by the gravity effect, and the situation that external force acts on the robot to cause the support wheel to separate from the cable is prevented.

[0045] The front and rear ends of the traction frame 10 are provided with traction points in the embodiment, the front traction rope 3 and the rear traction combined cable 1 are connected with the traction points at the front and rear ends of the traction frame 10 respectively, through the setting of the traction frame 10 and the front and rear double traction driving form, the stable walking function of the robot on the flat slope and the large slope is realized.

[0046] The four-foot obstacle crossing mechanism 4 in the embodiment comprises two groups of step support foot assemblies 15, the robot frame 11 is provided with the two groups of step support foot assemblies 15 in the sliding mode, each group of step support foot assemblies 15 comprises left step support feet and right step support feet arranged in a staggered mode, the force bearing part in the embodiment is composed of the two groups of step support foot assemblies 15 and is supported on the detected cable 8, and is divided into front and rear step support feet, the step support feet are divided into left step support feet and right step support feet according to the left and right positions, the left step support feet and the right step support feet are used for crossing the cable accessories 9 in sequence, when the step support foot assembly 15 encounters the cable accessory 9, one of the step support feet is lifted, and the obstacle is crossed in the mode of simulating human walking.

[0047] The inner walls on the left and right sides of the robot frame 11 in the embodiment are each provided with a positioning and force bearing guide rail 18, a force bearing guide rail 19 and an auxiliary support guide rail 20, the left and right step support feet are each connected with the robot frame 11 through the positioning and force bearing guide rail 18, the force bearing guide rail 19 and the auxiliary support guide rail 20, the positioning and force bearing guide rail 18 is a guide rail with the same length, which can ensure the position accuracy of the front and rear two groups of step support foot assemblies 15, bear most of the force with the force bearing guide rail 19, and the auxiliary support guide rail 20 plays an auxiliary support effect.

[0048] The left and right step support feet in the embodiment are completely the same in structure and each include a lifting drive electric cylinder assembly 21, a guide shaft 22, a support foot assembly, a translation seat 23 and a step driving assembly, the translation seat 23 is connected with the inner side wall of the robot frame 11 in a sliding manner, the support foot assembly is arranged above the translation seat 23 in a vertical direction, the bottom of one end of the support foot assembly is provided with a plurality of guide shafts 22, one end of the guide shaft 22 is connected with the support foot assembly, the other end penetrates through the translation seat 23 and is connected with the translation seat 23 in a sliding manner, the lifting drive electric cylinder assembly 21 is arranged below the translation seat 23, the lifting drive electric cylinder assembly 21 drives the lifting of the support foot assembly, the step driving assembly is connected with the robot frame 11, and the step driving assembly is used to drive the linear movement of the translation seat 23, the lifting drive electric cylinder assembly 21 in the embodiment includes a commercial motor, a speed reducer, an electric cylinder and a joint bearing, and the structure is a prior art, so it is not described in detail, the support foot assembly adopts the lifting drive electric cylinder assembly 21 as a drive to realize the lifting function of the support foot assembly, the guide shaft 22 plays a guiding and limiting function in the lifting process of the support foot assembly, the translation seat 23 is used to connect and fix the lifting drive electric cylinder assembly 21 and the support foot assembly, and the linear movement of the step support foot in the robot frame 11 is realized through the translation seat 23.

[0049] The two sides of the translation seat 23 in the embodiment are each provided with a translation slider, the translation seat 23 is connected with the positioning and force bearing guide rail 18, the force bearing guide rail 19 and the auxiliary support guide rail 20 in a sliding manner through the translation sliders, and the translation seat 23 is connected with each guide rail through the translation sliders to realize the movement of the step support foot on each guide rail.

[0050] The step driving assembly in the embodiment includes a step driving lead screw 16 and a step driving motor 17, the step driving motor 17 is connected with the bottom of the magnetic sensor mechanism 5, the step driving lead screw 16 is rotatably connected with the inner side wall of the robot frame 11, the step driving lead screw 16 is threadedly connected with the corresponding translation seat 23, the step driving motor 17 rotates to drive the step driving lead screw 16 to rotate, and the step driving lead screw 16 rotates to drive the corresponding translation seat 23 to move.

[0051] In this embodiment, the support foot assembly includes a support foot bearing frame 33, a shaped gear connecting rod 30, and a cable anti-detachment rotating seat 32. Both the shaped gear connecting rod 30 and the cable anti-detachment rotating seat 32 are rotatably mounted on the support foot bearing frame 33. One end of the support foot bearing frame 33 is equipped with a cable anti-detachment drive motor 26, and the other end is equipped with a support wheel 24. The output end of the cable anti-detachment drive motor 26 is equipped with a cable anti-detachment drive bevel gear 27. A cable anti-detachment transmission bevel gear 28 and a transmission gear 29 are coaxially mounted on the support foot bearing frame 33. The cable anti-detachment drive bevel gear 27 meshes with the cable anti-detachment transmission bevel gear 28 for transmission. The gear portion of the shaped gear connecting rod 30 meshes with the transmission gear 29 for transmission. The connecting rod portion of the shaped gear connecting rod 30 is connected via a cable anti-detachment support. The support rod 31 is connected to the cable anti-derailment rotating seat 32. One end of the cable anti-derailment rotating seat 32 is rotatably connected to the support foot bearing frame 33, and the other end is provided with a cable anti-derailment wheel 25. The cable under test 8 is respectively matched with the support wheel 24 and the cable anti-derailment wheel 25. In this embodiment, the support foot assembly is supported by a bearing group on the support foot bearing frame 33, and the support wheel 24 is installed in the bearing hole, which can rotate freely. After its assembly, it serves as the main load-bearing component. The cable anti-derailment rotating seat 32 is installed on the support foot bearing frame 33. The cable anti-derailment rotating seat 32 is also equipped with the cable anti-derailment wheel 25 through the bearing group. In actual use, the cable anti-derailment wheel 25 will open and close according to the specific working conditions. After closing, the robot will experience an irregular amount of bumps when walking, so it needs to be able to overcome a certain reaction force. The cable anti-derailment wheel 25 is driven by a cable anti-derailment drive motor 26. The cable anti-derailment drive motor 26 is composed of a commercial-grade motor and reducer, and its structure is existing technology, so it will not be described in detail. A cable anti-derailment drive bevel gear 27 is installed on the output shaft of the cable anti-derailment drive motor 26. After the cable anti-derailment drive bevel gear 27 meshes with the cable anti-derailment transmission bevel gear 28, it transmits kinetic energy to the transmission gear 29. The transmission gear 29 meshes with the special-shaped gear connecting rod 30, which can drive the cable anti-derailment support connecting rod 31 to move. The special-shaped gear connecting rod 30, the cable anti-derailment support connecting rod 31 and the cable anti-derailment rotating seat 32 are all connected by a rotating pair and form a connecting rod structure, realizing the opening and closing function of the cable anti-derailment wheel 25.

[0052] In this embodiment, after the support foot component is closed, as shown... Figure 13 As shown, the connecting rod direction of the irregular gear connecting rod 30 and the cable anti-derailment support connecting rod 31 coincides. At this time, if the cable anti-derailment wheel 25 is opened directly, the motion lever arm is 0, that is, it is at the dead point position. That is, if the cable wants to detach from the cable anti-derailment wheel 25, the force acting on it is overcome by the irregular gear connecting rod 30 and the cable anti-derailment support connecting rod 31 in the structure, and will not react to the drive through the gear set.

[0053] In this embodiment, the support foot component opens as follows: Figure 14As shown, when the cable preventing wheel 25 needs to be opened, the cable preventing wheel driving motor 26 drives the gear set and the linkage structure to move reversely, and the movement arm of the cable preventing wheel 25 gradually increases in the process, that is, the cable preventing wheel 25 is opened after the dead point structure is destroyed.

[0054] In the embodiment, the support foot of the cable detection robot is invented into a force arm characteristic preventing wheel structure by using the gear and linkage characteristics, so that the robot can stably and reliably overcome the cable separation reaction force caused by bumps during walking.

[0055] In the embodiment, the obstacle crossing mode of the two groups of step support foot assemblies 15 is as follows:

[0056] Step 1: The robot body moves to the first side of the obstacle, and at this time, the initial position is recorded. The left step support foot and the right step support foot of the step support foot assembly 15 close to the obstacle enter the obstacle crossing state.

[0057] Step 2: The left step support foot moves to the initial position of the right step support foot away from the obstacle.

[0058] Step 3: After the support foot assembly of the right step support foot is opened and releases the detected cable 8, the right step support foot is raised to a certain height, and then the right step support foot is translated to the second side of the obstacle. After the support foot assembly of the right step support foot is reset downward, the right step support foot is closed to tightly hold the detected cable 8 again. At this time, the right step support foot is located at the initial position of the left step support foot.

[0059] Step 4: After the support foot assembly of the left step support foot is opened and releases the detected cable 8, the left step support foot is raised to a certain height, and then the left step support foot is translated to the initial position of the left step support foot. After the support foot assembly of the left step support foot is reset downward, the left step support foot is closed to tightly hold the detected cable 8 again. At this time, the obstacle is located between the two groups of step support foot assemblies 15.

[0060] Step 5: The next group of step support foot assemblies 15 repeats steps 2, 3 and 4 in turn, until the two groups of step support foot assemblies 15 cross the obstacle, and the obstacle crossing is completed.

[0061] In the embodiment, the distance between the left step support foot and the right step support foot at the initial position is equal to the distance between the two groups of step support foot assemblies 15 and is greater than the length of the obstacle. In order to prevent the left step support foot and the right step support foot from interfering with the obstacle during the obstacle crossing process, the obstacle crossing process is ensured to be smooth.

[0062] The above disclosed embodiments of the present application are only used to help explain the present application. The embodiments do not describe all the details of the present application, and the present application is not limited to the specific embodiments described. According to the content of the present specification, many modifications and changes can be made. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application.

Claims

1. A saddle-shaped traction quadruped obstacle-crossing cable inspection robot, characterized in that: It includes a force traction frame (2), a front traction rope (3), a rear traction combined cable (1), a four-foot obstacle mechanism (4), a magnetic sensor mechanism (5), a cable to be inspected (8) and an electrical cabinet (6), the overall force traction frame (2) is in a saddle type structure, the force traction frame (2) is arranged on the cable to be inspected (8), the front traction rope (3) and the rear traction combined cable (1) are connected at the front and rear ends of the force traction frame (2) respectively, the electrical cabinet (6) is arranged below the force traction frame (2), the front end of the electrical cabinet (6) is provided with a visual mechanical arm (7), the four-foot obstacle mechanism (4) and the magnetic sensor mechanism (5) are arranged inside the force traction frame (2), the magnetic sensor mechanism (5) is arranged at the middle position of the four-foot obstacle mechanism (4), the four-foot obstacle mechanism (4) and the magnetic sensor mechanism (5) are connected with the cable to be inspected (8), the cable to be inspected (8) is provided with a cable accessory (9), the force traction frame (2) includes a traction frame (10) and a robot frame (11), the traction frame (10) is arranged above the robot frame (11), the front end of the traction frame (10) is rotatably connected with the robot frame (11), the rear end of the traction frame (10) is arranged open and close with the robot frame (11), the two sides of the bottom of the front end of the traction frame (10) are rotatably connected with the front end of the robot frame (11) through rotating shafts (12), the rear ends of the traction frame (10) are connected with sliding rods (14), the rear ends of the robot frame (11) are provided with sliding rod bearing seats (13), the top ends of the sliding rods (14) are rotatably connected with the traction frame (10), the bottom ends of the sliding rods (14) pass through the sliding seats and are slidably connected with the sliding rod bearing seats (13), the sliding rods (14) are sleeved with buffer springs between the bottom ends of the sliding rods (14) and the sliding rod bearing seats (13).

2. The saddle-hauled four-legged obstacle-crossing cable inspection robot according to claim 1, characterized in that: The front and rear ends of the traction frame (10) are provided with traction points, the front traction rope (3) and the rear traction combined cable (1) are connected with the traction points at the front and rear ends of the traction frame (10) respectively.

3. The saddle-hauled four-legged obstacle-crossing cable inspection robot according to claim 1, characterized in that: The four-foot obstacle mechanism (4) includes two groups of step support foot assemblies (15), the robot frame (11) is provided with two groups of step support foot assemblies (15) which are arranged in the sliding mode, each group of step support foot assemblies (15) includes left step support feet and right step support feet which are arranged in a staggered mode, the left step support feet and the right step support feet are used for sequentially crossing the cable accessory (9).

4. The saddle-hauled four-legged obstacle-crossing cable inspection robot according to claim 3, characterized in that: The inner walls on the left and right sides of the robot frame (11) are provided with positioning and force guide rails (18), force guide rails (19) and auxiliary support guide rails (20), the left step support feet and the right step support feet are slidably connected with the robot frame (11) through the positioning and force guide rails (18), the force guide rails (19) and the auxiliary support guide rails (20).

5. The saddle-hauled four-legged obstacle-crossing cable inspection robot according to claim 4, characterized in that: The left step support foot and the right step support foot are completely same in structure and each include a lifting driving electric cylinder assembly (21), a guide shaft (22), a support foot assembly, a translation seat (23) and a step driving assembly, the translation seat (23) is slidably connected to the inner side wall of the robot frame (11), the support foot assembly is vertically arranged above the translation seat (23), the bottom of one end of the support foot assembly is provided with a plurality of guide shafts (22), one end of the guide shaft (22) is connected to the support foot assembly, the other end penetrates through the translation seat (23) and is slidably connected to the translation seat (23), the lifting driving electric cylinder assembly (21) is arranged below the translation seat (23), the lifting driving electric cylinder assembly (21) drives the lifting of the support foot assembly, the step driving assembly is connected to the robot frame (11), and the step driving assembly is used for driving the linear movement of the translation seat (23).

6. The saddle-hauled four-legged obstacle-crossing cable inspection robot according to claim 5, characterized in that: Both sides of the translation seat (23) are provided with translation sliders, and the translation seat (23) is slidably connected to the positioning and bearing guide rail (18), the bearing guide rail (19) and the auxiliary support guide rail (20) through the translation sliders.

7. The saddle-hauled four-legged obstacle-crossing cable inspection robot according to claim 5, characterized in that: The step driving assembly includes a step driving lead screw (16) and a step driving motor (17), the step driving motor (17) is connected to the bottom of the magnetic sensor mechanism (5), the step driving lead screw (16) is rotatably connected to the inner side wall of the robot frame (11), and the step driving lead screw (16) is threadedly connected to the corresponding translation seat (23).

8. The saddle-hauled four-legged obstacle-crossing cable inspection robot according to claim 5, characterized in that: The support foot assembly includes a support foot bearing frame (33), a special-shaped gear connecting rod (30) and a cable anti-rotation seat (32), the special-shaped gear connecting rod (30) and the cable anti-rotation seat (32) are rotatably arranged on the support foot bearing frame (33), one end of the support foot bearing frame (33) is provided with a cable anti-rotation driving motor (26), the other end is provided with a support wheel (24), the output end of the cable anti-rotation driving motor (26) is provided with a cable anti-rotation driving bevel gear (27), the support foot bearing frame (33) is coaxially provided with a cable anti-rotation transmission bevel gear (28) and a transmission gear (29), the cable anti-rotation driving bevel gear (27) is in meshing transmission with the cable anti-rotation transmission bevel gear (28), the gear part of the special-shaped gear connecting rod (30) is in meshing transmission with the transmission gear (29), the connecting rod part of the special-shaped gear connecting rod (30) is connected to the cable anti-rotation seat (32) through a cable anti-rotation support connecting rod (31), one end of the cable anti-rotation seat (32) is rotatably connected to the support foot bearing frame (33), the other end is provided with a cable anti-rotation wheel (25), and the detected cable (8) is matched with the support wheel (24) and the cable anti-rotation wheel (25).

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