A inchworm-like rope-climbing robot

Abstract

This invention relates to the field of rope-climbing robot technology and discloses a inchworm-inspired rope-climbing robot, comprising: an inspection platform, a modular chuck, a rope-climbing inspection mechanism, and a swing-arm linkage mechanism. A modular chuck is fixedly connected to one side of the inspection platform. A pair of rope-climbing inspection mechanisms are located on both sides of the inspection platform. Each rope-climbing inspection mechanism includes a fixed support arm, with steering wheels on both sides of the fixed support arm. A deflection drive mechanism connects the steering wheels to the fixed support arm, and a drive wheel is located between the pair of steering wheels. A pair of telescopic limit mechanisms connect the drive wheel to the fixed support arm. A pair of swing-arm linkage mechanisms are located between the fixed support arm and the inspection platform. This invention, by incorporating an inchworm-inspired rope-climbing robot, enables the robot to inspect steel cables in confined spaces and where inspection is difficult. It allows for multi-angle inspection of steel cables, offering diverse functions and enabling it to perform human-machine maintenance work, significantly improving the applicability of the rope-climbing robot.

Description

Technical Field

[0001] This invention belongs to the field of rope-climbing robot technology, specifically relating to a inchworm-inspired rope-climbing robot. Background Technology

[0002] Rope-climbing robots are a type of robot capable of moving autonomously on ropes. By moving freely on the ropes, they can perform maintenance. Mine fishing boxes are components in mine hoisting devices that wind up and store vertical steel cables. In the mineral mining process, steel cable winches are mainly used to control the lifting of workers and goods at the bottom of the mine, playing a crucial role in the safe mining of minerals.

[0003] To ensure the safety of mineral mining, the rapidly wearing vertical steel cables inside the mine fishing box require regular inspection and maintenance. However, due to the limited space inside the mine fishing box, inspection is difficult. Traditional rope-climbing robots rely heavily on manual placement and movement. Furthermore, their limited functionality makes it difficult to achieve human-machine collaboration in maintenance. This results in significant limitations and blind spots in the use of traditional rope-climbing robots, hindering effective inspection of the vertical steel cables inside the mine fishing box and creating substantial safety hazards during their use.

[0004] Therefore, in order to address the aforementioned technical problems, it is necessary to provide an inchworm-like rope-climbing robot. Summary of the Invention

[0005] The purpose of this invention is to provide an inchworm-like rope-climbing robot to solve the problem of the limited application of traditional rope-climbing robots.

[0006] To achieve the above objectives, an embodiment of the present invention provides the following technical solution:

[0007] A inchworm-like rope-climbing robot includes: an inspection table, a modular chuck, a rope-climbing inspection mechanism, and a swing arm linkage mechanism.

[0008] A module chuck is fixedly connected to one side of the inspection platform.

[0009] A pair of climbing rope inspection mechanisms are located on both sides of the inspection platform. Each climbing rope inspection mechanism includes a fixed support arm, and a steering wheel is provided on both sides of the fixed support arm. A deflection drive mechanism is connected between the steering wheel and the fixed support arm. A power wheel is provided between the pair of steering wheels, and a pair of telescopic limit mechanisms are connected between the power wheel and the fixed support arm.

[0010] A pair of swing arm linkage mechanisms are disposed between the fixed support arm and the inspection table. The swing arm linkage mechanism includes a connecting arm. Each end of the connecting arm close to the inspection table is provided with a swing connector. A swing arm drive mechanism is connected between the swing connector and the inspection table.

[0011] Furthermore, the deflection drive mechanism includes a steering wheel assembly frame, which is fixedly connected to a fixed support arm. The steering wheel assembly frame provides support and limitation for the rotating connecting seat, facilitating the assembly and limitation of the steering wheel through the cooperation of the steering wheel assembly frame and the rotating connecting seat. A rotating connecting seat is rotatably connected within the steering wheel assembly frame. The rotating connecting seat provides assembly and limitation for the steering wheel. Simultaneously, it facilitates controlling the deflection of the steering wheel by controlling the rotation of the rotating connecting seat, thereby allowing the rope-climbing robot to detach from the rope as the steering wheel deflects, providing a foundation for subsequent single-rope obstacle crossing and rope changing. A connecting axle connects the rotating connecting seat and the steering wheel. The connecting axle connects the rotating connecting seat and the steering wheel, facilitating the limitation and support of the steering wheel through the connecting axle.

[0012] Furthermore, a steering wheel transmission box is fixedly connected to the steering wheel assembly frame. The steering wheel transmission box provides assembly and operating space for the deflection worm gear and deflection worm. Simultaneously, the steering wheel transmission box supports and fixes the deflection motor. The steering wheel transmission box contains a steering wheel deflection shaft, which is fixedly connected to the rotary connecting seat. The steering wheel deflection shaft connects the deflection worm gear and the rotary connecting seat, facilitating the deflection of the rotary connecting seat by driving the steering wheel deflection shaft to rotate.

[0013] A deflection worm gear is driven to the outer side of the steering wheel deflection shaft. The steering wheel deflection shaft is rotated by driving the deflection worm gear. A deflection worm is engaged on one side of the deflection worm gear. The deflection worm transmits power to the deflection motor. A deflection motor is fixedly connected to the outer side of the steering wheel transmission box, and the deflection worm is driven to the output shaft of the deflection motor. The deflection motor provides power, allowing control of the steering wheel's deflection state, thus facilitating subsequent single-rope obstacle crossing and rope changing.

[0014] Furthermore, the telescopic limiting mechanism includes a telescopic arm. The movement of the telescopic arm controls the movement of the power wheel, thereby adjusting the gap between the power wheel and the steering wheel. Adjusting the gap between the power wheel and the steering wheel regulates and controls the rope-climbing clamping force of the rope-climbing robot. A power wheel drive shaft connects the telescopic arm and the power wheel. The power wheel drive shaft connects the telescopic arm and the power wheel. A connecting control arm is provided on the outer side of the telescopic arm, and the connecting control arm is fixedly connected to the fixed support arm. The connecting control arm connects the telescopic arm and the fixed support arm, increasing the connection and support stability of the telescopic arm. A telescopic screw is internally threaded onto the telescopic arm. The telescopic screw provides support, limitation, and movement control for the telescopic arm.

[0015] Furthermore, a drive bevel gear is connected to the end of the telescopic screw furthest from the telescopic arm. The drive bevel gear rotates the telescopic screw, allowing the telescopic arm to extend and retract with the rotation of the telescopic screw under the action of internal and external threads. A transmission bevel gear meshes with one side of the drive bevel gear. The transmission bevel gear transmits power to the telescopic motor, allowing the drive bevel gear to rotate accordingly with the operation of the telescopic motor. A telescopic motor is fixedly connected to the outer side of the control arm, and the output shaft of the telescopic motor is connected to the transmission bevel gear. The telescopic motor provides power, allowing control of the telescopic arm's extension and retraction state by controlling the operation of the telescopic motor.

[0016] Furthermore, a high-speed electric motor is connected to one side of the telescopic arm, and the high-speed electric motor is drive-driven to the drive shaft of the power wheel. This facilitates high-speed driving of the power wheel through the operation of the high-speed electric motor.

[0017] Furthermore, a power drive box is fixedly connected to one side of the telescopic arm. The power drive box provides assembly and operating space for the power drive worm gear and power drive worm wheel, and at the same time, it supports and fixes the high-torque motor.

[0018] The power drive housing contains a power drive worm gear, which is connected to the power wheel drive shaft. The power drive worm gear drives the power wheel drive shaft to rotate. A power drive worm is meshed on one side of the power drive worm gear. The power drive worm transmits power from a high-torque motor, allowing the power drive worm gear to rotate under the action of the high-torque motor. A high-torque motor is connected to one end of the power drive worm. The high-torque motor provides power, allowing for the control of the power wheel's drive by controlling its operation.

[0019] Furthermore, a connecting fixing block is fixedly connected to the side of the connecting arm away from the swing connector, and a connecting shaft connects the connecting fixing block to a pair of connecting control arms. The cooperation between the connecting fixing block and the connecting shaft serves to assemble and connect the connecting arm and the connecting control arm.

[0020] Furthermore, the connecting arm is internally threaded with a connecting screw. The connecting screw supports, limits, and controls the movement and expansion of the connecting arm. One end of the connecting screw, located within the swing connector, is driven by a driven bevel gear. The driven bevel gear drives the connecting screw to rotate, facilitating the retraction and expansion of the connecting arm as the connecting screw rotates under the action of the internal and external threads.

[0021] One side of the driven bevel gear is engaged with a drive bevel gear, which transmits power to the driving bevel gear, causing the driven bevel gear to rotate under its influence. One end of the drive bevel gear is connected to a drive bevel gear located on the outside of the swing connector. The drive bevel gear provides power, allowing control of the connecting arm's extension and retraction by controlling its rotation.

[0022] Furthermore, the swing arm drive mechanism includes a swing arm control box. The control box provides assembly and operating space for the swing worm gear and the swing worm. A connecting drive rod is provided inside the control box, and the connecting drive rod is fixedly connected to the swing connector. This facilitates swing control of the connecting arm by rotating the connecting drive rod. A swing worm gear is driven to the outer side of the connecting drive rod. The swing worm gear drives and controls the connecting drive rod. A swing worm is engaged on one side of the swing worm gear. The swing worm transmits power to the swing motor. A swing motor is driven to one end of the swing worm. The swing motor provides power, facilitating the adjustment and control of the swing state of the connecting arm by controlling the operation of the swing motor.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] This invention, by setting up a inchworm-like rope-climbing robot, enables the rope-climbing robot to inspect steel cables in confined spaces and where inspection is difficult. It can perform multi-angle inspections of steel cables, has diversified functions, and can cooperate with human-machine maintenance work, significantly improving the applicability of the rope-climbing robot.

[0025] By setting up a pair of swing arm linkage mechanisms, the rope climbing robot can autonomously overcome obstacles and change ropes during inspection, which greatly improves the efficiency of the rope climbing robot in inspecting steel cables.

[0026] At the same time, different inspection modules can be matched according to needs, so that the rope climbing robot has a variety of different functions, which greatly improves the inspection stability and reliability of the rope climbing robot. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional view of a double-rope inspection state of a inchworm-like rope-climbing robot according to an embodiment of the present invention;

[0029] Figure 2 This is a perspective view from another angle of a double-rope inspection state of a inchworm-like rope-climbing robot according to an embodiment of the present invention.

[0030] Figure 3 for Figure 2 Schematic diagram of the structure at point A in the middle;

[0031] Figure 4 This is a cross-sectional view of a inchworm-like rope-climbing robot according to an embodiment of the present invention;

[0032] Figure 5 for Figure 4 Schematic diagram of the structure at point B;

[0033] Figure 6 for Figure 4 Schematic diagram of the structure at point C;

[0034] Figure 7 This is a partial structural diagram of a inchworm-like rope-climbing robot according to one embodiment of the present invention;

[0035] Figure 8 for Figure 7 Schematic diagram of the structure at point D;

[0036] Figure 9 for Figure 7 Schematic diagram of the structure at point E in the middle;

[0037] Figure 10 for Figure 7 Schematic diagram of the structure at point F;

[0038] Figure 11 This is a schematic diagram of the double-rope inspection and rope changing state of a inchworm-like rope-climbing robot in one embodiment of the present invention.

[0039] Figure 12 This is a schematic diagram of the completed double-rope inspection and rope changing state of a inchworm-like rope-climbing robot in one embodiment of the present invention.

[0040] Figure 13 This is a schematic diagram of the single-rope inspection state of a inchworm-like rope-climbing robot in one embodiment of the present invention;

[0041] Figure 14 This is a schematic diagram of the single-rope inspection and obstacle-crossing state of a inchworm-like rope-climbing robot in one embodiment of the present invention.

[0042] Figure 15 This is a block diagram of the control algorithm for a inchworm-like rope-climbing robot according to one embodiment of the present invention.

[0043] In the diagram: 1. Inspection platform, 101. Module chuck, 2. Rope climbing inspection mechanism, 201. Fixed support arm, 202. Steering wheel, 203. Power wheel, 204. Steering wheel assembly frame, 205. Rotary connecting seat, 206. Connecting wheel axle, 207. Steering wheel transmission box, 208. Steering wheel deflection shaft, 209. Deflection worm gear, 210. Deflection worm, 211. Deflection motor, 212. Telescopic arm, 213. Power wheel drive shaft, 214. Connecting control arm, 215. Telescopic lead screw, 216. Drive bevel gear, 217. Transmission bevel gear, 218. 219. Telescopic motor; 220. High-speed motor; 221. Power drive box; 222. Power drive worm gear; 223. Power drive worm; 224. High torque motor; 3. Swing arm linkage mechanism; 301. Connecting arm; 302. Swinging connector; 303. Connecting fixing block; 304. Connecting shaft; 305. Connecting screw; 306. Driven bevel gear; 307. Driven bevel gear; 308. Telescopic motor; 309. Swing arm control box; 310. Connecting drive rod; 311. Swinging worm gear; 312. Swinging worm; 313. Swing motor. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0045] This invention discloses a inchworm-like rope-climbing robot, with reference to... Figures 1-15 As shown, it includes: inspection platform 1, module chuck 101, climbing rope inspection mechanism 2, swing arm linkage mechanism 3.

[0046] refer to Figure 1 As shown, a module chuck 101 is fixedly connected to one side of the inspection platform 1. This facilitates the assembly and fixation of the inspection module via the module chuck 101.

[0047] Specifically, the modular chuck 101 can be equipped with inspection modules, personnel safety attachment modules, and maintenance assistance modules with different functions. The inspection modules, each with different functions, allow for the rotation of the steel cable rope. The personnel safety attachment module provides a point of attachment for the safety rope during construction, improving worker safety. The maintenance assistance module provides support such as wide-area lighting, tool transport, and power supply during maintenance.

[0048] refer to Figure 1As shown, a pair of rope-climbing inspection mechanisms 2 are located on both sides of the inspection platform 1. This facilitates rope-climbing control of the inspection platform 1 via the rope-climbing inspection mechanisms 2. Each rope-climbing inspection mechanism 2 includes a fixed support arm 201. The fixed support arm 201 serves to assemble and fix the pair of connecting control arms 214.

[0049] refer to Figure 1 As shown, both sides of the fixed support arm 201 are equipped with steering wheels 202. This facilitates the clamping of the steel cable by the cooperation of the steering wheels 202 and the drive wheel 203, thereby enabling the climbing purpose by driving the drive wheel 203 to rotate.

[0050] Specifically, both the steering wheel 202 and the power wheel 203 are installed using an easy-to-disassemble structure. When the material and diameter of the steel cable are different, the climbing robot can be adapted by quickly changing the wheel set.

[0051] Furthermore, the steering wheel 202 and the drive wheel 203 have a safety mechanism that will quickly lock the drive wheel and retract the telescopic arm 212 when abnormal deflection or acceleration is detected in the steering wheel 202 and the drive wheel 203. This safety mechanism also plays an important role when personnel are safely attached. During the safety function testing phase, a rope safety device will be added to ensure the safety of personnel and equipment.

[0052] refer to Figures 4-5 As shown, a deflection drive mechanism is connected between the steering wheel 202 and the fixed support arm 201. The deflection drive mechanism includes a steering wheel assembly frame 204, which is fixedly connected to the fixed support arm 201. The steering wheel assembly frame 204 supports and limits the rotation connecting seat 205, facilitating the assembly and limiting of the steering wheel 202 through the mutual cooperation between the steering wheel assembly frame 204 and the rotation connecting seat 205.

[0053] refer to Figures 4-5 As shown, a rotating connecting seat 205 is rotatably connected within the steering wheel assembly frame 204. The rotating connecting seat 205 serves as an assembly limit for the steering wheel 202. Simultaneously, it facilitates the deflection of the steering wheel 202 by controlling the rotation of the rotating connecting seat 205, thereby allowing the rope-climbing robot to detach from the rope as the steering wheel 202 deflects, providing a foundation for subsequent single-rope obstacle crossing and rope changing.

[0054] refer to Figures 4-5 As shown, a connecting shaft 206 connects the rotating connecting seat 205 and the steering wheel 202. The connecting shaft 206 connects the rotating connecting seat 205 and the steering wheel 202, facilitating the limiting support of the steering wheel 202 through the connecting shaft 206.

[0055] refer to Figures 4-5As shown, a steering wheel transmission box 207 is fixedly connected to the steering wheel assembly frame 204. The steering wheel transmission box 207 provides assembly and operating space for the deflection worm gear 209 and the deflection worm 210. At the same time, the steering wheel transmission box 207 also supports and fixes the deflection motor 211.

[0056] refer to Figures 7-8 As shown, a steering wheel deflection shaft 208 is provided inside the steering wheel transmission housing 207, and the steering wheel deflection shaft 208 is fixedly connected to the rotary connecting seat 205. The steering wheel deflection shaft 208 serves to connect the deflection worm gear 209 and the rotary connecting seat 205, facilitating the deflection of the rotary connecting seat 205 by driving the steering wheel deflection shaft 208 to rotate. The deflection worm gear 209 is driven to rotate the steering wheel deflection shaft 208.

[0057] refer to Figures 7-8 As shown, a deflecting worm 210 is meshed on one side of the deflecting worm gear 209. The deflecting worm 210 serves to transmit power to the deflecting motor 211.

[0058] refer to Figures 7-8 As shown, a deflection motor 211 is fixedly connected to the outside of the steering wheel transmission box 207, and the deflection worm 210 is connected to the output shaft of the deflection motor 211. The deflection motor 211 provides power, and its operation can be controlled to control the deflection state of the steering wheel 202, thereby controlling subsequent single-rope obstacle crossing and rope changing.

[0059] refer to Figure 1 As shown, a drive wheel 203 is provided between a pair of steering wheels 202. This allows the rope-climbing robot to move on the steel cable by rotating the drive wheel 203.

[0060] In addition, pressure sensors and Hall sensors can be installed on the side of the steering wheel 202 and the power wheel 203 that are close to the steel cable. The condition of the steel cable can be monitored by the voltage signal returned by the pressure sensor and the digital signal returned by the Hall sensor.

[0061] refer to Figures 7-9 As shown, a pair of telescopic limiting mechanisms connect the drive wheel 203 and the fixed support arm 201. The telescopic limiting mechanism includes a telescopic arm 212. The movement of the drive wheel 203 is controlled by the telescopic movement of the telescopic arm 212, thereby adjusting the gap between the drive wheel 203 and the steering wheel 202. Adjusting the gap between the drive wheel 203 and the steering wheel 202 regulates and controls the rope-climbing clamping force of the rope-climbing robot. This allows the drive wheel 203 to adapt to steel cables with uneven surface friction caused by dust and moisture in the tunnel.

[0062] refer to Figures 7-9 As shown, a drive shaft 213 connects the telescopic arm 212 and the drive wheel 203. The drive shaft 213 connects the telescopic arm 212 and the drive wheel 203. A connecting control arm 214 is provided on the outer side of the telescopic arm 212, and the connecting control arm 214 is fixedly connected to the fixed support arm 201. The connecting control arm 214 connects the telescopic arm 212 and the fixed support arm 201, increasing the connection and support stability of the telescopic arm 212.

[0063] refer to Figures 7-9 As shown, the telescopic arm 212 is internally threaded with a telescopic screw 215. The telescopic screw 215 provides support, limit, and movement control for the telescopic arm 212.

[0064] refer to Figures 7-9 As shown, a drive bevel gear 216 is connected to the end of the telescopic screw 215 away from the telescopic arm 212. The drive bevel gear 216 drives the telescopic screw 215 to rotate. This facilitates the telescopic arm 212 to extend and retract with the rotation of the telescopic screw 215 under the action of the internal and external threads.

[0065] refer to Figures 7-9 As shown, a transmission bevel gear 217 meshes with one side of the drive bevel gear 216. The transmission bevel gear 217 transmits power to the telescopic motor 218, facilitating the rotation of the drive bevel gear 216 in accordance with the operation of the telescopic motor 218 under the action of the transmission bevel gear 217.

[0066] refer to Figure 1 As shown, a telescopic motor 218 is fixedly connected to the outer side of the control arm 214, and the output shaft of the telescopic motor 218 is connected to the transmission bevel gear 217. The telescopic motor 218 provides power, and the telescopic arm 212 can be controlled by controlling the operation of the telescopic motor 218.

[0067] refer to Figure 1 As shown, a high-speed motor 219 is connected to one side of the telescopic arm 212, and the high-speed motor 219 is connected to the drive shaft 213 of the power wheel. This facilitates high-speed driving of the power wheel 203 through the operation of the high-speed motor 219.

[0068] refer to Figure 2 As shown, a power drive box 220 is fixedly connected to one side of the telescopic boom 212. The power drive box 220 provides assembly and operating space for the power drive worm gear 222, the power drive worm wheel 221, and the power drive box 220 itself, and at the same time, it supports and fixes the high-torque motor 223.

[0069] refer to Figures 7-9As shown, a power drive worm gear 221 is provided inside the power drive housing 220, and the power drive worm gear 221 is connected to the power wheel drive shaft 213. The power drive worm gear 221 drives the power wheel drive shaft 213 to rotate. A power drive worm 222 is meshed on one side of the power drive worm gear 221. The power drive worm 222 transmits power to the high-torque motor 223, facilitating the rotation of the power drive worm gear 221 along with the operation of the high-torque motor 223 under the action of the power drive worm 222.

[0070] refer to Figures 7-9 As shown, a high-torque motor 223 is connected to one end of the power drive worm gear 222. The high-torque motor 223 provides power, facilitating the drive control of the power wheel 203 by controlling the operation of the high-torque motor 223.

[0071] Specifically, the drive wheel 203 is driven in parallel by a high-speed electric motor 219 and a high-torque motor 223. When the rope-climbing robot needs to be stationary or move slowly, the drive wheel 203 is driven by a power drive worm gear 222 and a power drive worm wheel 221, which has the advantages of reducing the motor load and improving control accuracy. When the drive wheel 203 needs to perform high-speed movements such as gliding or sliding under no load, the high-speed electric motor 219 is used for driving, which has the advantage of high operating efficiency.

[0072] refer to Figure 1 As shown, a pair of swing arm linkage mechanisms 3 are located between the fixed support arm 201 and the inspection platform 1. The swing arm linkage mechanisms 3 connect and limit the fixed support arm 201 and the inspection platform 1. Simultaneously, they facilitate the movement of the rope-climbing inspection mechanism 2 by swinging the pair of rope-climbing inspection mechanisms 2, thus simplifying obstacle crossing and rope changing operations. This simplifies the inspection process of the rope-climbing robot. The swing arm linkage mechanism 3 includes a connecting arm 301. The connecting arm 301 connects the swing connector 302 and the connecting fixing block 303.

[0073] Specifically, the connecting arm 301 is a carbon fiber tube, and the connecting arm 301 can also provide multiple mounting points, which can play a role in equipment transportation and personnel safety mounting.

[0074] refer to Figures 4-6 As shown, the connecting arm 301 is internally threaded with a connecting screw 305. The connecting screw 305 supports, limits, and controls the movement and expansion of the connecting arm 301. One end of the connecting screw 305, located within the swing connector 302, is driven by a driven bevel gear 306. The driven bevel gear 306 drives the connecting screw 305 to rotate, facilitating the retraction and expansion of the connecting arm 301 as the connecting screw 305 rotates under the influence of its internal and external threads.

[0075] refer to Figures 4-6 As shown, the driven bevel gear 306 is meshed with 307 on one side. 307 serves to transmit power to the driving bevel gear 307, so that the driven bevel gear 306 rotates with the driving bevel gear 307 under the action of 307.

[0076] refer to Figures 2-3 As shown, one end of 307 is connected to a drive bevel gear 307, which is located on the outside of the swing connector 302. The drive bevel gear 307 provides power, allowing the drive to rotate by controlling the operation of the drive bevel gear 307, thereby controlling the extension and retraction of the connecting arm 301.

[0077] refer to Figures 2-3 As shown, each end of the connecting arm 301 close to the inspection table 1 is equipped with a swing connector 302. The swing connector 302 provides support, limit, and rotation drive for the connecting screw 305.

[0078] refer to Figures 7-10 As shown, a swing arm drive mechanism is connected between the swing connector 302 and the inspection table 1. The swing arm drive mechanism includes a swing arm control box 309. The swing arm control box 309 provides assembly and operating space for the swing worm gear 311 and the swing worm 312.

[0079] refer to Figures 7-10 As shown, the swing arm control box 309 is equipped with a connecting drive rod 310, which is fixedly connected to the swing connector 302. This facilitates the swing control of the connecting arm 301 by rotating the connecting drive rod 310. A swing worm gear 311 is connected to the outer side of the connecting drive rod 310. The swing worm gear 311 drives and controls the connecting drive rod 310.

[0080] Specifically, by connecting the drive rod 310 and the swing worm gear 311 to drive the connecting arm 301, the torque can be increased while reducing the burden on the drive bevel gear 307.

[0081] refer to Figures 7-10 As shown, a swaying worm gear 312 is meshed on one side of the swaying worm wheel 311. The swaying worm gear 312 serves to transmit power to the swaying motor 313.

[0082] refer to Figures 7-10 As shown, one end of the oscillating worm gear 312 is connected to an oscillating motor 313. The oscillating motor 313 provides power, and its operation can be controlled to adjust the oscillation state of the connecting arm 301.

[0083] Specifically, the inchworm-like rope-climbing robot is equipped with an attitude sensor and a lidar. The robot's attitude is adjusted by using the angle, angular acceleration, linear acceleration, and air pressure information returned by the attitude sensor, as well as the point cloud information returned by the lidar.

[0084] In addition, the inchworm-like rope-climbing robot uses continuous PID control of angle and speed in an STM32 microcontroller, and uses ant colony algorithm and annealing algorithm to optimize the motion path of the inchworm-like rope-climbing robot, making rope changing more efficient and stable.

[0085] refer to Figure 1 As shown, when using the inchworm-like rope-climbing robot for dual-rope inspection, the inspection module is mounted on the module chuck 101. The power wheel 203 and the steering wheel 202 work together to clamp the steel cable to be inspected, thus fixing the inchworm-like rope-climbing robot between the two cables. Subsequently, according to the robot's operational needs, the power wheel 203 is driven to rotate by controlling the high-speed motor 219 or the high-torque motor 223, allowing the robot to crawl along the steel cable. The inspection module moves along the steel cable to perform the inspection.

[0086] refer to Figures 11-12 As shown, when a rope needs to be replaced during a dual-rope inspection, the operation of the drive wheel 203 is paused. Then, by controlling the operation of the telescopic motor 218, the telescopic arm 212 is extended or retracted, causing the single drive wheel 203 to detach from the steel cable. Furthermore, by controlling the operation of the deflection motor 211, the steering wheel 202 deflects under the combined action of the deflection worm gear 209 and the deflection worm 210, causing the steering wheel 202 to detach from the steel cable. Finally, by controlling the operation of the drive bevel gear 307, the connecting arm 301 swings under the combined action of the swing worm gear 312 and the swing worm wheel 311. The swinging of the connecting arm 301 swings a set of climbing rope inspection mechanisms 2 onto another steel cable. Subsequently, by controlling the operation of the telescopic motor 218 and the deflection motor 211, the set of climbing rope inspection mechanisms 2 is reassembled onto the other steel cable, thus completing the rope replacement operation.

[0087] refer to Figures 13-14 As shown, when using the inchworm-like rope-climbing robot for single-rope inspection, the robot is mounted on a single steel cable through the cooperation of a rope-climbing inspection mechanism 2 and a swing-arm linkage mechanism 3. The power wheel 203 is rotated by controlling the high-speed motor 219 or the high-torque motor 223, and the inspection module moves along the single steel cable with the module chuck 101 to perform the inspection.

[0088] refer to Figures 13-14As shown, when obstacle crossing is required during single-rope inspection, the rope-climbing inspection mechanism 2 can be detached from the steel cable by controlling the extension and retraction of the telescopic arm 212, the deflection of the steering wheel 202, and the swinging of the connecting arm 301. Then, by continuing to control the rotation of the power wheel 203, the inchworm-like rope-climbing robot can climb on the single steel cable. Subsequently, by controlling the swinging of the connecting arm 301, the deflection of the steering wheel 202, and the extension and retraction of the telescopic arm 212, the rope-climbing inspection mechanism 2 can re-grip the steel cable, completing the obstacle crossing for one group of rope-climbing inspection mechanisms 2. Then, the same operation is used to perform obstacle crossing operations on another group of rope-climbing inspection mechanisms 2. After obstacle crossing, single-rope inspection can continue.

[0089] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0090] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A inchworm-like rope-climbing robot, characterized in that, include: Inspection station (1), with a module chuck (101) fixedly connected to one side of the inspection station (1). A pair of rope-climbing inspection mechanisms (2) are provided on both sides of the inspection platform (1). The rope-climbing inspection mechanism (2) includes a fixed support arm (201). Both sides of the fixed support arm (201) are provided with steering wheels (202). A deflection drive mechanism is connected between the steering wheels (202) and the fixed support arm (201). A power wheel (203) is provided between the pair of steering wheels (202). A pair of telescopic limiting mechanisms are connected between the power wheel (203) and the fixed support arm (201). The deflection drive mechanism includes a steering wheel assembly frame (204), which is fixedly connected to a fixed support arm (201). A rotating connecting seat (205) is rotatably connected inside the steering wheel assembly frame (204), and a connecting wheel axle (206) is connected between the rotating connecting seat (205) and the steering wheel (202). A steering wheel transmission box (207) is fixedly connected to the steering wheel assembly frame (204). A steering wheel deflection shaft (208) is provided inside the steering wheel transmission box (207). The steering wheel deflection shaft (208) is fixedly connected to the rotary connecting seat (205). A deflection worm gear (209) is drivenly connected to the outside of the steering wheel deflection shaft (208). A deflection worm (210) is meshed on one side of the deflection worm gear (209). A deflection motor (211) is fixedly connected to the outside of the steering wheel transmission box (207). The deflection worm (210) is drivenly connected to the output shaft of the deflection motor (211). A pair of swing arm linkage mechanisms (3) are provided between the fixed support arm (201) and the inspection table (1). The swing arm linkage mechanism (3) includes a connecting arm (301). Each end of the connecting arm (301) close to the inspection table (1) is provided with a swing connector (302). A swing arm drive mechanism is connected between the swing connector (302) and the inspection table (1).

2. The inchworm-like rope-climbing robot according to claim 1, characterized in that, The telescopic limiting mechanism includes a telescopic arm (212), and a drive shaft (213) of the drive wheel is connected between the telescopic arm (212) and the drive wheel (203). A connecting control arm (214) is provided on the outside of the telescopic arm (212), and the connecting control arm (214) is fixedly connected to the fixed support arm (201). A telescopic screw (215) is internally threaded onto the telescopic arm (212).

3. The inchworm-like rope-climbing robot according to claim 2, characterized in that, The end of the telescopic screw (215) away from the telescopic arm (212) is connected to a drive bevel gear (216), and a transmission bevel gear (217) meshes with one side of the drive bevel gear (216). A telescopic motor (218) is fixedly connected to the outside of the connecting control arm (214), and the output shaft of the telescopic motor (218) is connected to the transmission bevel gear (217).

4. The inchworm-like rope-climbing robot according to claim 3, characterized in that, A high-speed motor (219) is connected to one side of the telescopic arm (212), and the high-speed motor (219) is connected to the drive shaft (213) of the power wheel.

5. The inchworm-like rope-climbing robot according to claim 3, characterized in that, A power drive box (220) is fixedly connected to one side of the telescopic arm (212). A power drive worm gear (221) is provided inside the power drive box (220). The power drive worm gear (221) is connected to the power wheel drive shaft (213) for transmission. A power drive worm (222) is engaged on one side of the power drive worm gear (221). A high torque motor (223) is connected to one end of the power drive worm (222).

6. The inchworm-like rope-climbing robot according to claim 1, characterized in that, A connecting fixing block (303) is fixedly connected to the side of the connecting arm (301) away from the swing connector (302), and a connecting shaft (304) is connected between the connecting fixing block (303) and a pair of connecting control arms (214).

7. The inchworm-like rope-climbing robot according to claim 1, characterized in that, The connecting arm (301) is internally threaded with a connecting screw (305). One end of the connecting screw (305) located inside the swing connector (302) is driven by a driven bevel gear (306). One side of the driven bevel gear (306) is meshed with a driving bevel gear (307).

8. The inchworm-like rope-climbing robot according to claim 1, characterized in that, The swing arm drive mechanism includes a swing arm control box (309), and a connecting drive rod (310) is provided inside the swing arm control box (309). The connecting drive rod (310) is fixedly connected to the swing connector (302). A swing worm wheel (311) is driven to the outside of the connecting drive rod (310). A swing worm (312) is engaged on one side of the swing worm wheel (311). A swing motor (313) is driven to one end of the swing worm (312).

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