Cable dual inspection robot

Abstract

The application belongs to the technical field of intelligent monitoring, and relates to a cable double-patrol robot, which comprises a left support body, a connecting body and a right support body. The structure of the left support body is completely same as that of the right support body. The left support body and the right support body are oppositely arranged and connected through the connecting body. The left support body and / or the right support body is provided with a cable-patrol clamping device and a double-detection turnover mechanism. The application provides a cable double-patrol robot with wide application range, which can effectively ensure detection accuracy and stability.

Description

Technical Field

[0001] This invention belongs to the field of intelligent monitoring technology, and relates to an inspection robot, and more particularly to a cable-guided dual inspection robot. Background Technology

[0002] Cable-stayed bridges are widely used due to their large spans, aesthetically pleasing designs, and economic viability. The increased size of cable-stayed bridges has brought about a series of challenges in bridge inspection, among which the inspection of the cables is crucial. The cables are the main load-bearing components of a cable-stayed bridge, and their reliability directly affects the bridge's safety. To ensure the safe use of the cables, regular inspection and maintenance of their safety performance are necessary. Currently, the main method of cable maintenance in engineering projects is manual inspection, which is not only inefficient but also poses a risk to personnel safety. Therefore, manual inspection is no longer practical, and the use of industrial robots to replace manual cable inspection is an inevitable trend. As disclosed in the invention patent with authorization announcement number CN 113524250 B, a cable-stayed bridge cable inspection robot uses adaptive clamping and moving modules symmetrically arranged on both sides of the support mounting frame and a swinging clamping mechanism to ensure that the steering and moving mechanism can maintain close contact with the bridge cable in a wrap-around manner, ultimately achieving cable clamping. However, this double-arm-like clamping method is vulnerable; if either clamping arm experiences a mechanical failure, the clamping function is directly lost. In addition, the drive wheel used in this cable-stayed bridge cable inspection robot has surface contact with the cable, making it difficult to move after clamping.

[0003] Meanwhile, given my country's vast territory and uneven distribution of electricity demand and power plants across different regions, high-voltage transmission lines are the primary means of power transmission. Because high-voltage transmission lines typically use exposed steel-cored aluminum stranded wire, which is directly exposed to the air, they are susceptible to corrosion, wear, and strand breakage due to impurities in the air and the tension of the high-voltage lines themselves. Furthermore, foreign objects such as plastic bags and tree branches sometimes adhere to the lines. These various forms of damage and the presence of foreign objects severely impact power transmission and distribution, posing a significant threat to normal power delivery. Timely inspection of high-voltage transmission lines can prevent or worsen these situations. Current high-voltage line inspection methods include manual visual inspection, drone inspection, and inspection using cable-and-wire dual-inspection robots. Manual visual inspection suffers from two main drawbacks: high workload and the potential for oversights, resulting in ineffective inspections. Drone inspection, a method that has emerged in recent years, can greatly reduce workload. However, in practical applications, it places high demands on the number of pilots and their skill levels, making manual drone inspection unable to meet the power grid industry's needs in terms of operation frequency and quality. Meanwhile, dual-line inspection robots for high-voltage power lines often suffer from drawbacks such as large size and weight, complex obstacle avoidance control, and long obstacle avoidance times. Furthermore, to avoid obstacle avoidance difficulties, dual-line inspection robots often employ a single-line inspection method, resulting in relatively low detection efficiency.

[0004] Most existing inspection robots only focus on one type of object, such as cable-stayed bridge cables or high-voltage power lines, which cannot achieve dual-purpose functionality and thus limit their use. Summary of the Invention

[0005] In order to solve the above-mentioned technical problems in the background art, the present invention provides a cable-driven dual inspection robot that has a wide range of applications and can effectively ensure detection accuracy and stability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A cable-based dual-inspection robot is characterized in that: the cable-based dual-inspection robot includes a left support body, a connecting body, and a right support body; the structure of the left support body is exactly the same as that of the right support body; the left support body and the right support body are arranged opposite to each other and connected by the connecting body; the left support body and / or the right support body are provided with a cable inspection clamping device and a dual-inspection flipping mechanism.

[0008] Preferably, the cable inspection and clamping device used in this invention includes a first support member, a second support member, a locking mechanism, a first clamping mechanism, and a second clamping mechanism; the first clamping mechanism is fixedly disposed on the first support member; the second clamping mechanism is fixedly disposed on the second support member; the first clamping mechanism and the second clamping mechanism are disposed opposite to each other; the first support member is connected to the second support member through the locking mechanism; the cable-stayed bridge cable to be clamped is placed between the first clamping mechanism and the second clamping mechanism, and is in line contact with the first clamping mechanism and the second clamping mechanism respectively; the structure of the first clamping mechanism and the structure of the second clamping mechanism are completely identical; the first clamping mechanism includes a fixed plate and an upper clamping mechanism and a lower clamping mechanism symmetrically disposed on the fixed plate; the cable-stayed bridge cable to be clamped is in line contact with the upper clamping mechanism and the lower clamping mechanism respectively.

[0009] Preferably, the structure of the upper clamping mechanism used in this invention is exactly the same as that of the lower clamping mechanism; the upper clamping mechanism includes a clamping wheel, a clamping wheel axle, a fixing block, an electromagnet push rod, and a connecting shaft; the fixing block is parallel to and fixedly mounted on the fixing plate; the connecting shaft passes through the fixing block along its thickness direction; the electromagnet push rod is mounted on the fixing plate; the end of the electromagnet push rod abuts against the connecting shaft and drives the connecting shaft to rotate axially around the connecting shaft; the axis of the clamping wheel axle is parallel to the plane of the fixing plate; one end of the clamping wheel axle is fixedly connected to the connecting shaft, and the other end is provided with a clamping wheel; the clamping wheel rotates axially around the clamping wheel axle; the cable-stayed bridge cable to be clamped contacts the clamping wheel line; preferably, the upper clamping mechanism also includes a ratchet and a ratchet buckle meshing with the ratchet; the ratchet is fixedly mounted on the connecting shaft; the ratchet buckle is mounted on the fixing plate via a pin; the end of the electromagnet push rod abuts against the ratchet buckle.

[0010] Preferably, the present invention uses two sets of fixing plates, which are arranged opposite to each other; the upper clamping mechanism and the lower clamping mechanism are arranged opposite to each other from top to bottom along the axial direction of the fixing plates; the first clamping mechanism further includes a support cylinder disposed between the two sets of fixing plates, and the support cylinder is one or more; the cable inspection clamping device further includes an electric telescopic rod disposed on the first support member; the locking mechanism is disposed at the end of the electric telescopic rod; the locking mechanism includes a latch and a locking tongue adapted to the latch.

[0011] Preferably, the dual-detection flipping mechanism used in this invention includes a first flipping component, which includes a drive rod, a DC geared motor, a drive gear set, and a drive rod flipping drive component; the DC geared motor is mounted on the drive rod; the DC geared motor is connected to the drive gear set and drives the drive gear set to rotate around the axial direction of the DC geared motor; the drive rod flipping drive component is connected to the drive rod and drives the drive rod to flip; the drive rod flipping drive component is mounted on a first support and / or a second support.

[0012] Preferably, the drive rod flipping drive component used in this invention includes a servo gear set and a servo; the servo is connected to the drive rod through the servo gear set and drives the drive rod to flip; the servo gear set includes a first servo gear and a second servo gear, the servo is connected to the first servo gear and drives the first servo gear to rotate; the first servo gear meshes with the second servo gear; the second servo gear is connected to the drive rod; the drive rod flipping drive component also includes a rotating pin; the second servo gear and the drive rod are superimposed to form a whole, and the rotating pin passes through the second servo gear and the drive rod; the servo drives the drive rod to flip around the axial direction of the rotating pin through the first servo gear and the second servo gear; preferably, the first flipping component also includes a spring plate; the spring plate is disposed at the end of the drive rod along the axial direction of the drive rod; the DC geared motor is disposed on the spring plate.

[0013] Preferably, the dual-detection flipping mechanism used in this invention further includes a second flipping member that is symmetrical to the position of the first flipping member. The structure of the second flipping member is exactly the same as that of the first flipping member, and the flipping direction of the drive rod on the first flipping member is opposite to that of the drive rod on the second flipping member.

[0014] Preferably, the cable-driven dual-inspection robot used in this invention further includes a rotating component disposed on the drive gear set; the rotating component is a drive wheel or a bearing roller; when the rotating component is a bearing roller, the cable-driven dual-inspection robot further includes a rotating obstacle avoidance device; the rotating obstacle avoidance device includes an irregularly shaped shell, a claw wheel, a base, and a claw wheel limiting device; the irregularly shaped shell is fastened to the base; the claw wheel is disposed on the outer wall of the irregularly shaped shell, and the claw wheel drives the irregularly shaped shell to rotate around the axial direction of the base under the action of external force; the claw wheel limiting device is placed between the irregularly shaped shell and the base; the base is connected to the bearing roller through a connecting rod; the plane of the base is parallel to the plane of the bearing roller; the claw wheel includes three claws, and the three claws are evenly distributed along the outer periphery of the irregularly shaped shell on the outer wall of the irregularly shaped shell.

[0015] Preferably, the projection of the inner wall of the irregularly shaped shell along its thickness direction is a Reilly triangle. One end of the hook wheel limiting device is fixedly mounted on the base, and the other end slides freely on the surface of the Reilly triangle. The projection positions of the three hooks on the outer wall of the irregularly shaped shell correspond to the projection positions of the three vertices of the Reilly triangle on the inner wall of the irregularly shaped shell. The hook wheel limiting device is radially mounted on the base. The hook wheel limiting device includes three limiting members, which are evenly distributed radially on the base. When the irregularly shaped shell is not rotating, the three limiting members correspond to the Reilly triangle. The three vertices correspond to each other; when the grappling wheel drives the irregularly shaped shell to rotate around the axial direction of the base under the action of external force, the three limiting members slide freely on the surface of the Reilly triangle; preferably, the limiting members include steel balls, sleeves and springs; the sleeves are arranged on the base radially; the steel balls are placed in the sleeves through the springs; when the irregularly shaped shell does not rotate, the steel balls abut against the vertices of the Reilly triangle; when the grappling wheel drives the irregularly shaped shell to rotate around the axial direction of the base under the action of external force, the steel balls squeeze the springs and slide freely on the surface of the Reilly triangle; the rotating obstacle avoidance device also includes a lubricating washer disposed between the irregularly shaped shell and the base.

[0016] Preferably, the cable-guided dual-inspection robot used in this invention also includes an ultrasonic detection device and a camera, both mounted on the connecting body.

[0017] The advantages of this invention are:

[0018] This invention provides a cable inspection robot, comprising a left support body, a connecting body, and a right support body. The structure of the left support body is identical to that of the right support body. The left and right support bodies are arranged opposite each other and connected by the connecting body. The left and / or right support bodies are equipped with a cable inspection clamping device and a dual-detection flipping mechanism. The cable inspection clamping device addresses the problem of existing clamping devices primarily relying on surface contact, which makes movement difficult after clamping. It employs four clamping wheels to form line contact with the cable, ensuring both stability and smooth movement. This invention allows the inspection robot to be fitted onto the cable of a cable-stayed bridge by unlocking the latches. The cable is clamped by adjusting the extension of the electric telescopic rod and the angle of the clamping wheels. The clamping device can adapt to cable-stayed bridge cables of different diameters, featuring flexible detection. Simultaneously, the clamping wheels are tangent to the cylindrical surface of the cable, achieving complete clamping and preventing the inspection robot from slipping and being damaged during detection. The dual-detection flipping mechanism allows the drive rod to be positioned differently by rotating the servo motor, enabling free switching between detecting cable-stayed bridge cables and high-voltage power lines. This achieves dual detection of both high-voltage power lines and cable-stayed bridge cables, significantly expanding the cable range that a single cable inspection robot can detect, making it extremely convenient to use. Furthermore, this invention includes a rotating obstacle avoidance device to ensure the cable inspection robot avoids obstacles while detecting high-voltage power lines, making it very convenient to use and allowing simultaneous operation on two or more high-voltage power lines, improving detection efficiency. Clearly, the cable-stayed bridge dual-inspection robot provided by this invention can achieve dual detection of cable-stayed bridge cables and high-voltage power lines, giving the cable inspection robot a dual-purpose function. This invention can adapt to cable-stayed bridge cables of different diameters and high-voltage power lines of different spacings. Compared to traditional detection methods, this invention improves detection efficiency and accuracy. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the cable-guided dual-inspection robot provided by the present invention;

[0020] Figure 2 yes Figure 1 A top-view structural diagram;

[0021] Figure 3 This is a schematic diagram of the main structure of the cable inspection and clamping device used in this invention;

[0022] Figure 4 This is a front view schematic diagram of the clamping mechanism used in this invention;

[0023] Figure 5 This is a side view of the clamping mechanism used in this invention.

[0024] Figure 6This is a cross-sectional view of the clamping mechanism used in this invention.

[0025] Figure 7 This is a schematic diagram showing the usage status of the cable inspection and clamping device used in this invention;

[0026] Figure 8 This is a simplified structural diagram of the dual-detection flipping mechanism used in this invention when detecting the cables of a cable-stayed bridge.

[0027] Figure 9 This is a schematic diagram of the structure of the dual-detection flipping mechanism used in this invention when detecting the cables of a cable-stayed bridge (after flipping).

[0028] Figure 10 This is a simplified structural diagram of the dual-detection flipping mechanism used in this invention when detecting high-voltage power lines;

[0029] Figure 11 This is a side view of the dual-detection flipping mechanism used in this invention when detecting high-voltage wires.

[0030] Figure 12 This is a front view schematic diagram of the dual-detection flipping mechanism used in this invention when detecting the cables of a cable-stayed bridge (without flipping).

[0031] Figure 13 This is a side view of the dual-detection flipping mechanism used in this invention when detecting the cables of a cable-stayed bridge (without flipping).

[0032] Figure 14 This is a schematic diagram of the overall structure of the rotating obstacle avoidance device used in this invention;

[0033] Figure 15 This is a schematic diagram of the base used in this invention;

[0034] Figure 16 This is a schematic diagram of the rotating obstacle avoidance device used in this invention before obstacle avoidance;

[0035] Figure 17 This is a schematic diagram of the rotating obstacle avoidance device used in this invention during obstacle avoidance.

[0036] Figure 18 yes Figure 17 A schematic diagram of the oblique view structure;

[0037] Figure 19 This is a schematic diagram of the cable-stayed bridge cable inspection robot provided by the present invention during inspection.

[0038] Figure 20 This is a schematic diagram of the cable-guided dual-inspection robot provided by the present invention when inspecting high-voltage power lines;

[0039] in:

[0040] 1-Cable inspection clamping device; 11-Electric telescopic rod; 13-Lock; 15-Fixing plate; 16-Clamping wheel; 17-Clamping wheel axle; 18-Fixing block; 19-Electromagnet push rod; 111-Ratchet; 112-Support cylinder; 113-Connecting shaft; 114-Ratchet buckle; 2-Dual detection flipping mechanism; 21-Servo gear set; 22-Servo holder; 23-Servo; 25-Positioning cylinder; 26-Rotating pin; 27-Driver 29-Spring plate; 210-DC geared motor; 211-Drive gear set; 212-Drive wheel; 3-Rotating obstacle avoidance device; 31-Irregularly shaped shell; 32-Lubricating washer; 33-Base; 35-Steel ball; 36-Sleeve; 37-Spring; 38-Lylo triangle; 318-Bearing roller; 319-Claw wheel; 4-Ultrasonic detection device; 5-Camera; 6-Connector; 7-Cable stay cable; 8-High voltage wire. Detailed Implementation

[0041] See Figure 1 as well as Figure 2 The present invention provides a cable dual inspection robot, including a left support body, a connecting body 6, and a right support body; the structure of the left support body is exactly the same as that of the right support body; the left support body and the right support body are arranged opposite to each other and connected by the connecting body 6; the left support body and / or the right support body are provided with a cable inspection clamping device 1 and a dual inspection flipping mechanism 2.

[0042] See Figure 3 as well as Figure 7 The cable inspection and clamping device 1 used in this invention includes a first support member, a second support member, a locking mechanism, a first clamping mechanism, and a second clamping mechanism. The first clamping mechanism is fixedly mounted on the first support member; the second clamping mechanism is fixedly mounted on the second support member; the first clamping mechanism and the second clamping mechanism are arranged opposite to each other; the first support member is connected to the second support member through the locking mechanism. In specific use, the cable-stayed bridge cable 7 to be clamped is first placed between the first clamping mechanism and the second clamping mechanism. At the same time, the first support member is connected to the second support member through the locking mechanism, forming a stable and solid integral structure. At this time, the first clamping mechanism and the second clamping mechanism are in line contact with the cable-stayed bridge cable 7 to be clamped, respectively, and clamp the cable-stayed bridge cable 7 to be clamped.

[0043] See Figure 4The structure of the first clamping mechanism and the structure of the second clamping mechanism used in this invention are exactly the same. The first clamping mechanism includes a fixed plate 15 and an upper clamping mechanism and a lower clamping mechanism symmetrically arranged on the fixed plate 15. The cable-stayed bridge cable 7 to be clamped is in line contact with the upper clamping mechanism and the lower clamping mechanism, respectively. The structure of the upper clamping mechanism is exactly the same as the structure of the lower clamping mechanism. Therefore, the cable inspection clamping device provided by this invention includes a total of four clamping components: the upper clamping mechanism of the first clamping mechanism, the lower clamping mechanism of the upper clamping mechanism of the first clamping mechanism, the upper clamping mechanism of the second clamping mechanism, and the lower clamping mechanism of the second clamping mechanism, from four directions (e.g., ...). Figure 3 as well as Figure 7 Clamp the cable 7 of the cable-stayed bridge to be clamped.

[0044] See Figure 5 as well as Figure 6 The upper clamping mechanism provided by the present invention includes a clamping wheel 16, a clamping wheel shaft 17, a fixing block 18, an electromagnet push rod 19, and a connecting shaft 113; the fixing block 18 is parallel to and fixedly mounted on the fixing plate 15; the connecting shaft 113 passes through the fixing block 18 along the thickness direction of the fixing block 18; the electromagnet push rod 19 is mounted on the fixing plate 15; the end of the electromagnet push rod 19 abuts against the connecting shaft 113 and drives the connecting shaft 113 to rotate around the axial direction of the connecting shaft 113; the axis of the clamping wheel shaft 17 is parallel to the plane of the fixing plate 15; one end of the clamping wheel shaft 17 is fixedly connected to the connecting shaft 113, and the other end is provided with a clamping wheel 16; the clamping wheel 16 rotates around the axial direction of the clamping wheel shaft 17; the cable-stayed bridge cable 7 to be clamped is in line contact with the clamping wheel 16. The end of the electromagnet push rod 19 abuts against the connecting shaft 113 and provides support force to the connecting shaft 113, preventing the connecting shaft 113 from rotating axially around the connecting shaft 113. At the same time, since one end of the clamping wheel shaft 17 is fixedly connected to the connecting shaft 113, while the electromagnet push rod 19 provides support force to the connecting shaft 113 to ensure that the position remains unchanged, it also ensures that the clamping wheel shaft 7 does not rotate axially around the connecting shaft 113. As a result, the wheel surface of the clamping wheel 16 and the cable-stayed bridge cable 7 to be clamped form line contact, ensuring clamping while also achieving smooth movement.

[0045] Preferably, please continue to see Figure 6This embodiment is basically the same as the previous embodiment, except that the upper clamping mechanism used in this invention also includes a ratchet 111 and a ratchet latch 114 that meshes with the ratchet 111; the ratchet 111 is fixedly mounted on the connecting shaft 113; the ratchet latch 114 is mounted on the fixing plate 15 via a pin; the end of the electromagnet push rod 19 abuts against the ratchet latch 114. In order to enable the electromagnet push rod 19 to better provide support force to the connecting shaft 113 (i.e., to prevent the connecting shaft 113 from rotating around the axial direction of the connecting shaft 113), the electromagnet push rod 19 directly provides pressure to the ratchet latch 114, and the ratchet latch 114 abuts against the ratchet 111, preventing the connecting shaft 113, which is fixed to the ratchet 111, from rotating.

[0046] See Figure 5 The present invention provides two sets of fixing plates 15, which are arranged opposite to each other; the upper clamping mechanism and the lower clamping mechanism are arranged opposite to each other from top to bottom along the axial direction of the fixing plates 15. At this time, the first clamping mechanism also includes a support cylinder 112 disposed between the two sets of fixing plates 15, and there are one or more support cylinders 112.

[0047] See Figure 3 The cable inspection clamping device provided by the present invention also includes an electric telescopic rod 11 disposed on the first support member; a locking mechanism is disposed at the end of the electric telescopic rod 11.

[0048] The locking mechanism includes a latch 13 and a locking tongue adapted to the latch.

[0049] In practical use, the cable inspection clamping device provided by this invention involves opening the latch 13 and placing the cable inspection robot onto the cable-stayed bridge cable. At this time, the cable-stayed bridge cable is not clamped. The operator adjusts the extension of the electric telescopic rod 11 to initially clamp the cable-stayed bridge cable. After initial clamping, the clamping wheel axle 17 is manually adjusted so that the outer surface of the clamping wheel 16 is tangent to the cylindrical surface of the cable-stayed bridge cable to achieve complete clamping. During this process, the ratchet 111 prevents the clamping wheel axle 17 from reversing and failing to clamp. After the inspection is completed, the electromagnet push rod 19 drives the ratchet latch 114 to move backward (that is, during the operation, the electromagnet push rod 19 is always pressed against the ratchet 111 through the ratchet latch to prevent the clamping wheel axle from rotating around 13), so that the clamping wheel 16 and the clamping wheel axle 17 are once again in a movable state, preparing for the next inspection.

[0050] The dual-detection flipping mechanism 2 used in this invention includes a first flipping component, which comprises a drive rod 27, a DC geared motor 210, a drive gear set 211, and a drive rod flipping drive component. The DC geared motor 210 is mounted on the drive rod 27. The DC geared motor 210 is connected to the drive gear set 211 and drives the drive gear set 211 to rotate around the axial direction of the DC geared motor 210. The drive rod flipping drive component is connected to the drive rod 27 and drives the drive rod 27 to flip. The drive rod flipping drive component drives the drive rod 27 to flip, causing the drive rod 27 to be in different positions, which can be used to inspect the cable-stayed bridge cables and the high-voltage power lines 8 of the cable-stayed bridge respectively. It can realize the free switching from inspecting the cable-stayed bridge cables to inspecting the high-voltage power lines 8, giving the inspection line robot the characteristic of dual-purpose functionality and further expanding the application scope of the inspection line robot.

[0051] See Figure 8 The drive rod flipping drive component used in this invention includes a servo gear set 21 and a servo motor 33. The servo motor 33 is connected to the drive rod 27 through the servo gear set 21 and drives the drive rod 27 to flip. The servo gear set 21 includes a first servo gear and a second servo gear. The servo motor 33 is connected to the first servo gear and drives the first servo gear to rotate. The first servo gear meshes with the second servo gear. The second servo gear is connected to the drive rod 27. To ensure the flipping direction and smoothness of the drive rod 27, the drive rod flipping drive component provided by this invention also includes a rotating pin 26. A positioning cylinder 25 is fitted outside the rotating pin 26. The second servo gear and the drive rod 27 are superimposed to form a whole. The rotating pin 26 passes through the second servo gear and the drive rod 27. The servo motor 33 drives the drive rod 27 to flip around the axial direction of the rotating pin 26 through the first servo gear and the second servo gear.

[0052] To accommodate the positions of the cable-stayed bridge cables and high-voltage power lines 8, the first flipping component provided by this invention further includes a spring plate 29; the spring plate 29 is disposed at the end of the drive rod 27 along the axial direction of the drive rod 27; a DC geared motor 210 is disposed on the spring plate 29. When the positions of the cable-stayed bridge cables and high-voltage power lines 8 change, the spring plate 29 drives the DC geared motor 210 to make adaptive adjustments, enabling effective detection of the cable-stayed bridge cables and high-voltage power lines 8.

[0053] See Figure 8 , Figure 9 , Figure 10 , Figure 11 as well as Figure 19 The dual-detection flipping mechanism also includes a second flipping component that is symmetrical to the position of the first flipping component. The structure of the second flipping component is exactly the same as that of the first flipping component. The flipping direction of the drive rod 27 on the first flipping component is opposite to the flipping direction of the drive rod 27 on the second flipping component.

[0054] It should be noted that the dual-detection flipping mechanism provided by the present invention can be used alone (only the first flipping component is used, which is directly installed on the existing cable dual-inspection robot and used in combination with the existing cable dual-inspection robot), or it can be used in combination (including the first flipping component and the second flipping component symmetrically arranged with the first flipping component, both the first flipping component and the second flipping component are installed on the existing cable dual-inspection robot and used in combination with the existing cable dual-inspection robot).

[0055] In addition, see Figure 11 , Figure 12 , Figure 13 , Figure 19 as well as Figure 20 The dual-detection flipping mechanism provided by this invention further includes a first support member, a second support member, and a locking mechanism; the first support member and the second support member are arranged opposite to each other; the first flipping member is movably disposed on the first support member; the second flipping member is movably disposed on the second support member; the first support member is connected to the second support member through the locking mechanism. This embodiment provides a scenario where it can be used independently, that is, it is no longer used in conjunction with or in cooperation with existing cable-based dual-inspection robots, but instead uses the first and second support members as support members. The first support member, the second support member, and the locking mechanism are equivalent to a traditional cable-based dual-inspection robot, but the structure is simpler than that of a traditional cable-based dual-inspection robot. Meanwhile, in order to adapt to cable-stayed bridge cables of different diameters, the dual-detection flipping mechanism provided by the present invention also includes a first electric push rod and a second electric push rod 16; the first electric push rod and the second electric push rod 16 are arranged in parallel at the top and bottom of the first support member; the top of the first support member is connected to the top of the second support member through the first electric push rod; the bottom of the first support member is connected to the bottom of the second support member through the second electric push rod 16; a locking mechanism is arranged between the first electric push rod and the second support member and between the second electric push rod 16 and the second support member; the locking mechanism includes a latch and a locking tongue adapted to the latch.

[0056] See Figure 13 as well as Figure 20 The working process of the dual-detection flipping mechanism provided by the present invention will be described in detail below:

[0057] On the first flipping component, a rotating pin 26 passes through the second gear of the servo motor and the drive rod 27, and is connected to the first support component. The servo motor 33 is mounted on the drive rod 27 via a servo motor holder 22. The output end of the servo motor 33 passes through the drive rod 27 along its thickness direction and is connected to the first gear of the servo motor. Since the first gear and the second gear of the servo motor mesh, when the servo motor 33 drives the first gear to rotate, the first gear will inevitably drive the second gear to rotate synchronously. The second gear of the servo motor drives the drive rod 27 to flip around the axial direction of the rotating pin 26. A spring plate 29 is provided at the end of the drive rod 27 along its axial direction, and a DC geared motor 210 is provided at the end of the spring plate 29. The DC geared motor 210 is connected to the drive gear set 211 and drives the drive gear set 211 to rotate around the axial direction of the DC geared motor 210. The structure of the second flipping component is exactly the same as that of the first flipping component, and it is also mounted on the second support component in the same manner. After the first and second support components are fitted onto the outside of the cable-stayed bridge cables, the relative positions of the first and second support components are adjusted by the first and second electric push rods, so that the first and second support components are firmly supported on the cable-stayed bridge cables. Finally, the first and second support components are locked by the locking mechanism to form the detection body structure.

[0058] For example, please continue to see Figure 13 During the inspection of the cable-stayed bridge cables, a drive wheel 212 is installed on the drive gear set 211. The drive wheel 212 moves synchronously with the drive gear set 211. The drive wheels 212 on the first and second flipping parts are arranged opposite each other, and the two oppositely arranged drive wheels 212 are in contact with the cable-stayed bridge cables. Under the action of the flow reduction motor 10, the drive wheel 212 is driven to rotate by the drive gear set 211, and the drive wheel 212 moves along the axial direction of the cable-stayed bridge cables, thus completing the flaw detection of the cable-stayed bridge cables. Since a spring plate 29 is provided at the end of the drive rod 27, when the cable-stayed bridge cables are twisted or locally deformed, the elastic force generated by the spring plate 29 ensures that the two oppositely arranged drive wheels 212 always maintain good contact with the cable-stayed bridge cables. That is, the spring plate 29 ensures the inspection effect of the cable-stayed bridge cables.

[0059] When inspecting the high-voltage power line 8 parallel to the cable-stayed bridge cables, the structure of this invention remains unchanged. Then, the servo motor 33 is activated, and the first and second gears of the servo motor drive the drive rod 27 to rotate axially around the pivot pin 26. This causes the drive rod 27 to rotate the spring plate 29, the flow reduction motor 10, and the drive gear set 211 to the high-voltage power line 8. Then, the drive wheel 212 is replaced with a bearing roller 318 and a hook wheel 319, the structure of which is as follows: Figure 10 as well as Figure 11As shown. The claw wheel 319 and the bearing roller 318 are coaxially connected and move synchronously; the drive gear set 211 moves synchronously with the claw wheel 319. Under the action of the flow reduction motor 10, the drive gear set 211 drives the claw wheel 319 to rotate around its axial direction. Since the claw wheel 319 and the high-voltage wire 8 have a certain matching effect, based on friction, the claw wheel 319 can move along the axial direction of the high-voltage wire 8. To prevent the high-voltage wire 8 from detaching from the claw wheel 319, a star-shaped bearing roller 318 is used. During synchronous rotation with the claw wheel 319, the star-shaped bearing roller 318 can periodically limit the movement of the high-voltage wire 8 (due to the star-shaped structure, during rotation, the star-shaped rod periodically rotates outside the high-voltage wire 8, limiting its movement), ensuring the detection effect of the high-voltage wire 8. Meanwhile, due to the elastic force generated by the spring plate 29, the two oppositely arranged bearing rollers 318 always maintain good contact with the high-voltage wire 8, that is, the spring plate 29 further ensures the detection effect of the high-voltage wire 8.

[0060] The dual-detection flipping mechanism provided by this invention rotates the servo motor to position the drive rod 27 in different positions, enabling free switching from detecting cable-stayed bridge cables to detecting high-voltage power lines 8, thus achieving dual detection of both high-voltage power lines 8 and cable-stayed bridge cables, greatly expanding the range of cables that a single robot can detect.

[0061] See Figure 14 The rotating obstacle avoidance device 3 used in this invention includes an irregularly shaped shell 31, a grappling wheel 319, a base 33, and a grappling wheel limiting device; the irregularly shaped shell 31 is fastened to the base 33; the grappling wheel 319 is disposed on the outer wall of the irregularly shaped shell 31, and the grappling wheel 319 drives the irregularly shaped shell 31 to rotate around the axial direction of the base 33 under the action of external force; the grappling wheel limiting device is placed between the irregularly shaped shell 31 and the base 33.

[0062] See Figure 14 The hook wheel 319 used in this invention includes three hooks, which are evenly distributed along the outer periphery of the irregularly shaped outer shell 31 on its outer wall. See also Figure 16 The inner wall of the irregular shell 31 used in this invention is projected along the thickness direction of the irregular shell 31 into a Reichelk triangle 38. One end of the hook wheel limiting device is fixedly mounted on the base 33, and the other end slides freely on the surface of the Reichelk triangle 38. The projection positions of the three hooks on the outer wall of the irregular shell 31 correspond to the projection positions of the three vertices of the Reichelk triangle 38 on the inner wall of the irregular shell 31.

[0063] See Figure 15The grappling wheel limiting device used in this invention is radially disposed on the base 33. The grappling wheel limiting device includes three limiting members, which are evenly distributed radially on the base 33. When the irregularly shaped outer shell 31 is not rotating, the three limiting members correspond to the three vertices of the Reichstag triangle 38. When the grappling wheel 319 drives the irregularly shaped outer shell 31 to rotate axially around the base 33 under the action of an external force, the three limiting members slide freely on the surface of the Reichstag triangle 38.

[0064] See Figure 15 , Figure 16 as well as Figure 17 The limiting components used in this invention include a steel ball 35, a sleeve 36, and a spring 37. The sleeve 36 is radially disposed on the base 33. The steel ball 35 is placed in the sleeve 36 via the spring 37. When the irregularly shaped outer shell 31 is not rotating, the steel ball 35 rests against the apex of the Reilly triangle 38. When the pawl wheel 319 rotates the irregularly shaped outer shell 31 around the axial direction of the base 33 under the action of external force, the steel ball 35 compresses the spring 37 and slides freely on the surface of the Reilly triangle 38. Since there are three limiting components distributed in a distributed manner, the three limiting components can effectively ensure that the present invention can accurately rotate 120° each time it avoids obstacles.

[0065] See Figure 14 , Figure 16 as well as Figure 17 The rotating obstacle avoidance device also includes a lubrication washer 32 disposed between the irregularly shaped housing 31 and the base 33.

[0066] The user uses a rotating obstacle avoidance device to guide the cable inspection robot over the spacers on the high-voltage power lines during inspection. The working principle is as follows: the rotating obstacle avoidance device is mounted on the cable inspection robot via a base 33 and moves synchronously with the robot on the high-voltage line. When the cable inspection robot reaches the high-voltage line spacer, the pawl wheel 319 contacts the spacer. At this time, the three limiting components (steel balls 35) correspond to the three vertices of the Reylow triangle 38. The springs 37 connected to each steel ball 35 are in their normal (uncompressed) state, and the angle between the pawl wheel 319 and the sleeve 36 is 0°. Its structure is as follows: Figure 16 As shown; when the cable-guided dual-inspection robot continues to move, the grappling hook 319 rotates relative to the cable-guided dual-inspection robot. That is, during the process of the cable-guided dual-inspection robot climbing over the barrier bar, the grappling hook 319, connected to the irregular shell 31, drives the irregular shell 31 to rotate around the axial direction of the base 33. Since the three limiting members are all fixedly set radially on the base 33, during the rotation of the irregular shell 31, the Reylock triangle 38 on the inner surface of the irregular shell 31 also rotates around the axial direction of the base 33. That is, the limiting members rotate relative to the Reylock triangle 38. The structure is as follows. Figure 17 as well as Figure 18 As shown, at this time, the springs 37 connected to each steel ball 35 are all in a compressed state, until the angle between the pawl wheel 319 and the sleeve 36 is 60°. In this state, since the Leroy triangle 38 is almost an arc, under the action of the springs 37, the angle between the pawl wheel 319 and the sleeve 36 gradually decreases from 60° and returns to 0°. Figure 17 As you can see, the hook marked 319 in the attached diagram rotates clockwise and returns to its original position. Figure 16 (as shown in the image) or rotate to 120° (from...) Figure 17 As shown in the attached diagram, the hook marked 319 rotates counterclockwise and continues to rotate 60 degrees, causing the right-side adjacent hook of the hook marked 4 to move to... Figure 16 (As shown in the image), at this point, the three limiting components (steel balls 35) correspond to the three vertices of the Leylow triangle 38, respectively. The springs 37 connected to each steel ball 35 are in their normal (uncompressed) state. The cable-guided dual-inspection robot has successfully crossed the barrier bar, preparing to climb over the next barrier bar, achieving obstacle crossing at a fixed angle. Throughout the process, the steel balls 35 remain in contact with the inner wall of the irregularly shaped shell, that is, the steel balls 35 slide along the surface of the Leylow triangle 38.

[0067] See Figure 1 as well as Figure 2 The cable-stayed bridge dual-inspection robot provided by this invention also includes an ultrasonic testing device 4 and a camera 5, both mounted on the connecting body 6. The ultrasonic testing device 4 emits ultrasonic waves to detect internal defects in the cable-stayed bridge cables, while the camera 5 performs image recognition to detect external damage to the cable-stayed bridge cables.

Claims

1. A cable-guided dual-inspection robot, characterized in that: The cable dual inspection robot includes a left support body, a connecting body (6), and a right support body; the structure of the left support body is exactly the same as that of the right support body; the left support body and the right support body are arranged opposite to each other and connected by the connecting body (6); the left support body and / or the right support body are provided with a cable inspection clamping device (1) and a dual inspection flipping mechanism (2); the dual inspection flipping mechanism (2) includes a first flipping component, which includes a drive rod (27), a DC geared motor (210), a drive gear set (211), and a drive rod flipping drive component; the DC geared motor (210) is arranged on the drive rod (27); the DC geared motor (210) is connected to the drive gear set (211) and drives the drive gear set (211) to rotate around the axis of the DC geared motor (210); the drive rod flipping drive component is connected to the drive rod (27) and drives the drive rod (27) to flip; the drive rod flipping drive component is arranged on the cable inspection clamping device (1); When inspecting the cables of a cable-stayed bridge, a drive wheel (212) is set on the drive gear set (211). The drive wheel (212) is driven to rotate by the drive gear set (211), and the drive wheel (212) moves along the axial direction of the cable-stayed bridge cable to complete the flaw detection of the cable-stayed bridge cable. When inspecting the high-voltage power line (8) parallel to the cable-stayed bridge cable, the drive rod (27) is flipped to replace the drive wheel (212) with a bearing roller (318) and a claw wheel (319). The claw wheel (319) is driven to rotate around the axis of the claw wheel (319) by the drive gear set (211). Based on the friction, the claw wheel (319) moves along the axis of the high-voltage power line (8).

2. The cable-guided dual-inspection robot according to claim 1, characterized in that: The cable inspection clamping device (1) includes a first support member, a second support member, a locking mechanism, a first clamping mechanism, and a second clamping mechanism; the first clamping mechanism is fixedly mounted on the first support member; the second clamping mechanism is fixedly mounted on the second support member; the first clamping mechanism and the second clamping mechanism are arranged opposite to each other; the first support member is connected to the second support member through the locking mechanism; the cable-stayed bridge cable (7) to be clamped is placed between the first clamping mechanism and the second clamping mechanism, and is in line contact with the first clamping mechanism and the second clamping mechanism respectively; the structure of the first clamping mechanism and the structure of the second clamping mechanism are completely the same; the first clamping mechanism includes a fixed plate (15) and an upper clamping mechanism and a lower clamping mechanism symmetrically arranged on the fixed plate (15); the cable-stayed bridge cable (7) to be clamped is in line contact with the upper clamping mechanism and the lower clamping mechanism respectively.

3. The cable-guided dual-inspection robot according to claim 2, characterized in that: The structure of the upper clamping mechanism is exactly the same as that of the lower clamping mechanism; the upper clamping mechanism includes a clamping wheel (16), a clamping wheel shaft (17), a fixing block (18), an electromagnet push rod (19), and a connecting shaft (113); the fixing block (18) is parallel to and fixedly mounted on the fixing plate (15); the connecting shaft (113) passes through the fixing block (18) along the thickness direction of the fixing block (18); the electromagnet push rod (19) is mounted on the fixing plate (15); The end of the electromagnet push rod (19) abuts against the connecting shaft (113) and drives the connecting shaft (113) to rotate around the axial direction of the connecting shaft (113); the axis of the clamping wheel shaft (17) is parallel to the plane of the fixed plate (15); one end of the clamping wheel shaft (17) is fixedly connected to the connecting shaft (113), and the other end is provided with a clamping wheel (16); the clamping wheel (16) rotates around the axial direction of the clamping wheel shaft (17); the cable-stayed bridge cable (7) to be clamped is in line contact with the clamping wheel (16).

4. The cable-guided dual-inspection robot according to claim 3, characterized in that: The upper clamping mechanism also includes a ratchet (111) and a ratchet buckle (114) that meshes with the ratchet (111); the ratchet (111) is fixedly mounted on the connecting shaft (113); the ratchet buckle (114) is mounted on the fixed plate (15) by a pin; the end of the electromagnet push rod (19) abuts against the ratchet buckle (114).

5. The cable-guided dual-inspection robot according to claim 4, characterized in that: The fixing plates (15) are in two sets, and the two sets of fixing plates (15) are arranged opposite to each other; the upper clamping mechanism and the lower clamping mechanism are arranged opposite to each other from top to bottom along the axial direction of the fixing plates (15); the first clamping mechanism also includes a support cylinder (112) arranged between the two sets of fixing plates (15), and the support cylinder (112) is one or more; the cable inspection clamping device also includes an electric telescopic rod (11) arranged on the first support member; the locking mechanism is arranged at the end of the electric telescopic rod (11); the locking mechanism includes a latch (13) and a locking tongue adapted to the latch.

6. The cable-guided dual-inspection robot according to claim 2, 3, 4, or 5, characterized in that: The drive rod flipping drive is mounted on the first support and / or the second support.

7. The cable-guided dual-inspection robot according to claim 6, characterized in that: The drive rod flipping drive includes a servo gear set (21) and a servo (33); the servo (33) is connected to the drive rod (27) through the servo gear set (21) and drives the drive rod (27) to flip; the servo gear set (21) includes a first servo gear and a second servo gear, the servo (33) is connected to the first servo gear and drives the first servo gear to rotate; the first servo gear meshes with the second servo gear; the second servo gear is connected to the drive rod (27); the drive rod flipping drive also includes a rotating pin (26); the second servo gear and the drive rod (27) are superimposed to form a whole, and the rotating pin passes through the second servo gear and the drive rod (27); the servo (33) drives the drive rod (27) to flip around the axial direction of the rotating pin (26) through the first servo gear and the second servo gear.

8. The cable-guided dual-inspection robot according to claim 7, characterized in that: The first flipping component also includes a spring sheet (29); the spring sheet (29) is disposed at the end of the drive rod (27) along the axial direction of the drive rod (27); the DC geared motor (210) is disposed on the spring sheet (29).

9. The cable-guided dual-inspection robot according to claim 8, characterized in that: The dual-detection flipping mechanism also includes a second flipping component that is symmetrical to the position of the first flipping component. The structure of the second flipping component is exactly the same as that of the first flipping component. The flipping direction of the drive rod (27) on the first flipping component is opposite to the flipping direction of the drive rod (27) on the second flipping component.

10. The cable-guided dual-inspection robot according to claim 9, characterized in that: The cable-guided dual-inspection robot also includes a rotating obstacle avoidance device (3); the rotating obstacle avoidance device (3) includes an irregular shell (31), a base (33), and a claw wheel limiting device; the irregular shell (31) is fastened to the base (33); the claw wheel (319) is set on the outer wall of the irregular shell (31), and the claw wheel (319) drives the irregular shell (31) to rotate around the axial direction of the base (33) under the action of external force; the claw wheel limiting device is placed between the irregular shell (31) and the base (33); the base (33) is connected to the bearing roller (318) through a connecting rod; the plane of the base (33) is parallel to the plane of the bearing roller (318); the claw wheel (319) includes three claws, and the three claws are evenly distributed on the outer wall of the irregular shell (31) along the outer periphery of the irregular shell (31).

11. The cable-guided dual-inspection robot according to claim 10, characterized in that: The projection of the inner wall of the irregular shell (31) along the thickness direction of the irregular shell (31) forms a Renoir triangle (38). One end of the hook wheel limiting device is fixedly mounted on the base (33), and the other end slides freely on the surface of the Renoir triangle (38). The projection positions of the three hooks on the outer wall of the irregular shell (31) correspond to the projection positions of the three vertices of the Renoir triangle (38) on the inner wall of the irregular shell (31). The hook wheel limiting device is set radially along the base (33). Placed on the base (33); the hook wheel limiting device includes limiting members; there are three limiting members, which are evenly distributed on the base (33) along the radial direction of the base (33); when the irregular shell (31) does not rotate, the three limiting members correspond to the three vertices of the Reilly triangle (38); when the hook wheel (319) drives the irregular shell (31) to rotate around the axial direction of the base (33) under the action of external force, the three limiting members slide freely on the surface of the Reilly triangle (38).

12. The cable-guided dual-inspection robot according to claim 11, characterized in that: The limiting component includes a steel ball (35), a sleeve (36), and a spring (37); the sleeve (36) is arranged radially on the base (33); the steel ball (35) is placed in the sleeve (36) through the spring (37); when the irregular shell (31) is not rotating, the steel ball (35) abuts against the vertex of the Leroy triangle (38); when the pawl wheel (319) drives the irregular shell (31) to rotate around the axial direction of the base (33) under the action of external force, the steel ball (35) squeezes the spring (37) and slides freely on the surface of the Leroy triangle (38); the rotating obstacle avoidance device (3) also includes a lubricating washer (32) arranged between the irregular shell (31) and the base (33).

13. The cable-guided dual-inspection robot according to claim 12, characterized in that: The cable-guided dual-inspection robot also includes an ultrasonic detection device (4) and a camera (5) both mounted on the connector (6).

Images