Cable obstacle avoidance mobile robot

Abstract

The application discloses a cable obstacle-avoiding mobile robot, which comprises a first moving part, a second moving part, a first executing part and a second executing part. The first executing part is installed on one side of the first moving part close to the second moving part, and the second executing part is installed on one side of the second moving part close to the first moving part. The first executing part is movably arranged along a first preset direction with the first moving part, and the second executing part is movably arranged along a second preset direction with the second moving part. The first executing part has a first position which is arranged in a spaced manner with the second executing part and a second position which is matched with the second executing part. Through the ingenious cooperation of the first executing part and the second executing part, the different working positions of the first executing part and the different working positions of the second executing part can be matched, and then the hardware support for the cable obstacle-avoiding movement is provided, so that the obstacles existing on the cable can be crossed.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, specifically to a cable obstacle avoidance mobile robot. Background Technology

[0002] High-voltage transmission lines are the lifeblood of power systems worldwide, making their safety an increasingly important concern. These lines must withstand mechanical loads from both themselves and external sources, as well as the internal pressures generated during power transmission. Currently, the inspection of high-voltage transmission lines primarily relies on manual labor and drones, methods limited by weather, terrain, and equipment constraints. Therefore, designing a robot capable of navigating obstacles along high-voltage transmission lines is crucial. Summary of the Invention

[0003] This invention provides a cable obstacle avoidance robot that can crawl on cables and can also walk alternately, providing a platform for cable obstacle avoidance.

[0004] The technical solution of this invention is:

[0005] A cable obstacle avoidance robot includes a first moving part 1, a second moving part 19, a first execution part, and a second execution part. The first execution part is installed on the side of the first moving part 1 near the second moving part 19, and the second execution part is installed on the side of the second moving part 19 near the first moving part 1. The first execution part is movably disposed along a first preset direction with the first moving part 1, and the second execution part is movably disposed along a second preset direction with the second moving part 19. The first execution part has a first position spaced apart from the second execution part and a second position cooperating with the second execution part. When the first execution part is in the first position, it is used to insert / remove a cable 48. When the first execution part is in the second position, the first execution part cooperates with the second execution part to clamp the cable 48. The first preset direction and the second preset direction are perpendicular.

[0006] The first actuator includes: a main front driven wheel 2, which is mounted on the first moving part 1; a main rear driven wheel 30, which is mounted on the first moving part 1 and arranged at a distance from the main front driven wheel 2; the surface of the main rear driven wheel 30 that mates with the cable 48 is on the same plane as the surface of the main front driven wheel 2 that mates with the cable 48, which is parallel to a first preset direction; an auxiliary lower driven wheel 35, which is mounted on the first moving part 1 and located in the lower part between the main front driven wheel 2 and the main rear driven wheel 30; and an auxiliary drive wheel 36, which is mounted on the first moving part 1 and located in the lower part between the main front driven wheel 2 and the main rear driven wheel 30; the surface of the auxiliary drive wheel 36 that mates with the cable 48 is on the same plane as the surface of the auxiliary lower driven wheel 35 that mates with the cable 48, which is parallel to a first preset direction.

[0007] The second actuator includes: an auxiliary front driven wheel 28, which is mounted on the second moving part 19; an auxiliary rear driven wheel 29, which is mounted on the second moving part 19 and arranged at a distance from the auxiliary front driven wheel 28; the surface of the auxiliary rear driven wheel 29 that mates with the cable 48 and the surface of the auxiliary front driven wheel 28 that mates with the cable 48 are on the same plane parallel to a first preset direction; and a main drive wheel 41, which is mounted on the second moving part 19 and located in the lower part between the auxiliary front driven wheel 28 and the auxiliary rear driven wheel 29.

[0008] The second actuator has at least a first working position and a third working position. When the second actuator is in the first working position and the first actuator is in the first position, it is used to insert / remove the cable 48. When the first actuator is in the second position and the second actuator is in the first working position, it clamps the cable 48 under the first working position. When the first actuator is in the second position and the second actuator is in the third working position, it clamps the cable 48 under the third working position.

[0009] The first working position clamps the cable 48, specifically by the main drive wheel 41 of the second actuator cooperating with the main front driven wheel 2 and the main rear driven wheel 30 of the first actuator to clamp the cable 48.

[0010] The third working position clamps the cable 48 in the following way: the auxiliary drive wheel 36 of the first actuator works with the auxiliary front driven wheel 28 of the second actuator, the auxiliary rear driven wheel 29 of the second actuator and the auxiliary lower driven wheel 35 of the first actuator to clamp the cable 48.

[0011] The second actuator also has a second working position; when the first actuator is in the first position, during the process of the second actuator switching from the first working position to the second working position, the second actuator drives the inserted cable 48 to move along a second preset direction; when the second actuator is in the second working position, it can switch the first actuator from the first position to the second position.

[0012] The cable obstacle avoidance robot also includes a first drive unit, a lifting slider 21, and a lifting guide rail 39. The first drive unit is used to drive the second moving part 19 to move the second execution part along a second preset direction. The lifting guide rail 39 is connected to the frame, and the lifting slider 21 is connected to the second moving part 19. The lifting slider 21 cooperates with the lifting guide rail 39 to guide the movement of the second moving part 19.

[0013] The cable obstacle avoidance robot also includes a translational slider 42 and a translational guide rail 44. The translational guide rail 44 is connected to the frame, and the translational slider 42 is connected to the first moving part 1. The translational guide rail 44 and the translational slider 42 cooperate to guide the movement of the first moving part 1.

[0014] The beneficial effects of this invention are as follows: By cleverly setting a first execution unit that cooperates with the first moving part and a second execution unit that cooperates with the second moving part, the invention can place the cable between the first execution unit and the second execution unit; furthermore, through the clever cooperation of the first execution unit and the second execution unit, different working positions of the first execution unit and different working positions of the second execution unit can be coordinated, thereby providing hardware support for cable obstacle avoidance, enabling the crossing of obstacles on the cable, thereby reducing the danger of manual inspection, and improving the accuracy of circuit inspection through close-range inspection; even further, this invention can be equipped with a detection device, thereby expanding the connection channel between the mobile robot and external terminals. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall vertical structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the overall isometric structure of the present invention;

[0017] Figure 3 This is the overall left view of the present invention;

[0018] Figure 4 This is the overall right view of the present invention;

[0019] Figure 5 This is an overall front view of the present invention;

[0020] Figure 6This is an overall rear view of the present invention;

[0021] Figure 7 This is a schematic diagram of the overall initial state of the present invention;

[0022] Figure 8 This is a simplified schematic diagram of the overall initial state of the present invention;

[0023] Figure 9 This is a simplified isometric schematic diagram of the overall initial state of the present invention;

[0024] Figure 10 This is a schematic diagram of the overall steps of the present invention;

[0025] Figure 11 This is a simplified schematic diagram of the overall steps of the present invention;

[0026] Figure 12 This is a simplified isometric schematic diagram of the overall steps of the present invention;

[0027] Figure 13 This is a schematic diagram of step two of the overall invention;

[0028] Figure 14 This is a simplified schematic diagram of step two of the present invention;

[0029] Figure 15 This is a simplified isometric schematic diagram of the overall steps of the present invention.

[0030] Figure 16 This is a schematic diagram of step three of the overall process of the present invention;

[0031] Figure 17 This is a simplified schematic diagram of step three of the overall process of the present invention;

[0032] Figure 18 This is a simplified triaxial projection diagram illustrating the overall steps of the present invention.

[0033] Figure 19 This is a schematic diagram of step four of the overall process of the present invention;

[0034] Figure 20 This is a simplified schematic diagram of step four of the overall process of the present invention;

[0035] Figure 21 This is a simplified quadcopter projection diagram illustrating the overall steps of the present invention.

[0036] Figure 22 This is a schematic diagram of the overall workflow of the present invention;

[0037] In the diagram: 1. First moving part; 2. Main front driven wheel; 3. Driven wheel shaft; 4. Driven wheel positioning seat; 5. Translation platform positioning seat; 6. Base plate; 7. Support leg; 8. Power supply; 9. First vision module; 10. Second vision module; 11. Detection device positioning seat; 12. Electromagnetic relay one; 13. Electromagnetic relay two; 14. Electromagnetic relay three; 15. Main drive motor; 16. Controller; 17. Trapezoidal lead screw; 18. Lead screw nut; 19. Second moving part; 20. Slider fixing seat; 21. Lifting slider; 22. Lifting platform positioning seat; 23. Crossbeam; 24. Driven bevel gear; 25. Main... 26. Moving bevel gear; 27. Lifting motor support; 28. Lifting motor; 29. ​​Auxiliary front driven wheel; 30. Auxiliary rear driven wheel; 31. Main rear driven wheel; 32. Start button; 33. Power on button; 34. Power off button; 35. Auxiliary lower driven wheel; 36. Auxiliary drive wheel; 37. Auxiliary drive motor support; 38. Main drive motor support; 39. Lifting guide rail; 40. Guide rail; 41. Main drive wheel; 42. Translational slider; 43. Driven wheel bearing; 44. Translational guide rail; 45. Cable cross-section; 46. Second moving part replacement mechanism; 47. First moving part replacement mechanism; 48. Cable. Detailed Implementation

[0038] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0039] Example 1: As Figure 1-22 As shown, a cable obstacle avoidance robot includes a first moving part 1, a second moving part 19, a first execution part, and a second execution part. The first execution part is installed on the side of the first moving part 1 near the second moving part 19, and the second execution part is installed on the side of the second moving part 19 near the first moving part 1. The first execution part is movably arranged along a first preset direction with the first moving part 1, and the second execution part is movably arranged along a second preset direction with the second moving part 19. The first execution part has a first position spaced apart from the second execution part and a second position cooperating with the second execution part. When the first execution part is in the first position, it is used to insert / remove a cable 48. When the first execution part is in the second position, the first execution part cooperates with the second execution part to clamp the cable 48. The first preset direction and the second preset direction are perpendicular.

[0040] Further, the first actuator includes: a main front driven wheel 2, which is mounted on the first moving part 1; a main rear driven wheel 30, which is mounted on the first moving part 1 and arranged at a distance from the main front driven wheel 2; the surface of the main rear driven wheel 30 that mates with the cable 48 is on the same plane as the surface of the main front driven wheel 2 that mates with the cable 48, which is parallel to a first preset direction; an auxiliary lower driven wheel 35, which is mounted on the first moving part 1 and located in the lower part between the main front driven wheel 2 and the main rear driven wheel 30; and an auxiliary drive wheel 36, which is mounted on the first moving part 1 and located in the lower part between the main front driven wheel 2 and the main rear driven wheel 30; the surface of the auxiliary drive wheel 36 that mates with the cable 48 is on the same plane as the surface of the auxiliary lower driven wheel 35 that mates with the cable 48, which is parallel to a first preset direction.

[0041] Further, the second actuator includes: an auxiliary front driven wheel 28, which is mounted on the second moving part 19; an auxiliary rear driven wheel 29, which is mounted on the second moving part 19 and spaced apart from the auxiliary front driven wheel 28; the surface of the auxiliary rear driven wheel 29 that mates with the cable 48 and the surface of the auxiliary front driven wheel 28 that mates with the cable 48 are on the same plane parallel to a first preset direction; and a main drive wheel 41, which is mounted on the second moving part 19 and located in the lower part between the auxiliary front driven wheel 28 and the auxiliary rear driven wheel 29. In this invention, the main front driven wheel 2, the auxiliary front driven wheel 28, the auxiliary drive wheel 36, the main drive wheel 41, the auxiliary lower driven wheel 35, the auxiliary rear driven wheel 29, and the main rear driven wheel 30 are arranged in a front-to-back configuration based on the cable.

[0042] Furthermore, the second actuator has at least a first working position and a third working position. When the second actuator is in the first working position and the first actuator is in the first position, it is used to insert / remove the cable 48; when the first actuator is in the second position and the second actuator is in the first working position, it clamps the cable 48 under the first working position; when the first actuator is in the second position and the second actuator is in the third working position, it clamps the cable 48 under the third working position.

[0043] Furthermore, the clamping of the cable 48 at the first working position is specifically achieved by the main drive wheel 41 of the second actuator cooperating with the main front driven wheel 2 and the main rear driven wheel 30 of the first actuator to clamp the cable 48.

[0044] Furthermore, the third working position clamps the cable 48 specifically by the auxiliary drive wheel 36 of the first actuator cooperating with the auxiliary front driven wheel 28 of the second actuator, the auxiliary rear driven wheel 29 of the second actuator, and the auxiliary lower driven wheel 35 of the first actuator to clamp the cable 48.

[0045] Furthermore, the second actuator also has a second working position; when the first actuator is in the first position, during the process of the second actuator switching from the first working position to the second working position, the second actuator drives the inserted cable 48 to move along a second preset direction; when the second actuator is in the second working position, it can switch the first actuator from the first position to the second position.

[0046] Furthermore, the cable obstacle avoidance robot also includes a first drive unit, a lifting slider 21, and a lifting guide rail 39. The first drive unit is used to drive the second moving part 19 to move the second execution part along a second preset direction. The lifting guide rail 39 is connected to the frame, and the lifting slider 21 is connected to the second moving part 19. The lifting slider 21 cooperates with the lifting guide rail 39 to guide the movement of the second moving part 19.

[0047] Furthermore, the cable obstacle avoidance robot also includes a translational slider 42 and a translational guide rail 44. The translational guide rail 44 is connected to the frame, and the translational slider 42 is connected to the first moving part 1. The translational guide rail 44 and the translational slider 42 cooperate to guide the movement of the first moving part 1. The first moving part can be moved manually. During the movement, it is guided by the translational slider 42 and the translational guide rail 44 to reach a preset position and be fixed by a set screw; alternatively, it can be driven by a first drive unit.

[0048] The following describes, with reference to the accompanying drawings, optional specific embodiments of the present invention:

[0049] like Figure 1-22As shown, a cable obstacle avoidance robot includes a first moving part 1, a second moving part 19, a first execution part, and a second execution part. It also includes a frame, a first drive unit, a lifting slider 21, a lifting guide rail 39, a translational slider 42, and a translational guide rail 44. The frame includes a translational platform positioning seat 5, a base plate 6, support legs 7, a lifting platform positioning seat 22, and a crossbeam 23. The first drive unit includes a lifting motor 27 mounted via a lifting motor support 26, a driving bevel gear 25, a driven bevel gear 24, a trapezoidal lead screw 17, and a lead screw nut 18. Two lifting platform positioning seats 22 are mounted on one side of the upper end of the base plate 6, and a lifting guide rail 39 is mounted on the inner side of each lifting platform positioning seat 22. A crossbeam 23 is mounted on the upper end of the platform positioning seat 22. A lifting motor 27 is mounted on the middle of the upper end of the crossbeam 23. A drive bevel gear 25 is coaxially extended from the end of the lifting motor 27. The drive bevel gear 25 meshes with a driven bevel gear 24 at one end of a trapezoidal lead screw 17. A lead screw nut 18 is coaxially meshed on the trapezoidal lead screw 17. The lead screw nut 18 is embedded in the second moving part 19. Driven wheel positioning seats 4 are mounted on both sides of the upper end of the second moving part 19. A driven wheel shaft 3 is embedded in the middle of the driven wheel positioning seat 4. The ends of the driven wheel shafts 3 mounted on both sides of the upper end of the second moving part 19 are respectively coaxially mounted with an auxiliary front driven wheel 28 and an auxiliary rear driven wheel 28 via driven wheel bearings 43. The second moving part 19 has a wheel 29. Slider fixing seats 20 are installed on both sides of the second moving part 19. Lifting sliders 21 are installed on the slider fixing seats 20, and the lifting sliders 21 slide in cooperation with the lifting guide rail 39. A main drive motor 15 is installed at the lower center of the second moving part 19 via a main drive motor support. A main drive wheel 41 extends coaxially from the end of the main drive motor 15. Two translational platform positioning seats 5 are installed on the other side of the upper end of the base plate 6. Translational guide rails 44 are installed on the upper ends of the translational platform positioning seats 5, and the translational guide rails 44 slide in cooperation with translational sliders 42. The translational sliders 42 are installed on both sides of the lower end of the first moving part 1. Driven wheel positioning seats 4 are installed on both sides of the upper end of the first moving part 1. A driven wheel shaft 3 is inlaid and installed in the middle of the driven wheel positioning seat 4. The ends of the driven wheel shaft 3 installed on both sides of the upper end of the first moving part 1 are respectively coaxially mounted with a main front driven wheel 2 and a main rear driven wheel 30 through a driven wheel bearing 43. A driven wheel positioning seat 4 is installed on the rear side of the lower middle of the first moving part 1. The driven wheel shaft 3 is inlaid and installed in the middle of the driven wheel positioning seat 4. The end of the driven wheel shaft 3 installed on the rear side of the lower middle of the first moving part 1 is coaxially mounted with a lower auxiliary driven wheel 35 through a driven wheel bearing 43. An auxiliary drive motor 34 is installed on the front side of the lower middle of the first moving part 1 through an auxiliary drive motor support 37. An auxiliary drive wheel 36 is coaxially extended from the end of the auxiliary drive motor 34.As can be seen from the above technical solution, the first moving part 1 can be guided to move along the first preset direction by the translation slider 42, thereby driving the main front driven wheel 2, the auxiliary drive wheel 36, the auxiliary lower driven wheel 35 and the main rear driven wheel 30 to follow the movement; the second moving part 19 can be guided to move along the second preset direction by the lifting slider 21, thereby driving the auxiliary front driven wheel 28, the main drive wheel 41 and the auxiliary rear driven wheel 29 to follow the movement.

[0050] Furthermore, it may also include a control device and a power supply 8 mounted on the base plate 6 for power supply. The control device includes an electromagnetic relay 12, an electromagnetic relay 13, an electromagnetic relay 14, and a controller 16 mounted on the frame via guide rails 40. It also includes a start button 31, a power-on button 32, and a power-off button 33 mounted on the frame. The start button 31, power-on button 32, and power-off button 33 are respectively connected to the power supply 8 and the controller 16. The controller 16 is also connected to the coil terminals of the electromagnetic relays 12, 13, and 14. The output terminal of the electromagnetic relay 12 is connected to the main drive motor 15. The output terminal of the electromagnetic relay 13 is connected to the auxiliary drive motor 34. The output terminal of the electromagnetic relay 14 is connected to the lifting motor 27.

[0051] Furthermore, the system may also include a detection device, comprising a first vision module 9 and a detection device positioning seat 11; it may also include a second vision module 10. The detection device positioning seat 11 is mounted on the front upper part of the base plate 6, and the first vision module 9 and the second vision module 10 are interlocked inside the detection device positioning seat 11. The first vision module 9 is installed directly in front of the cable obstacle avoidance robot, and its signal terminal is connected to the controller 16. It can detect obstacles suspended on the cable and transmit the visually captured information to the controller, which then controls the switching between a first working position and a third working position to achieve autonomous crossing. The second vision module 10 is vertically interlocked below the side of the cable and can transmit the image information collected from the high-voltage transmission line to the backend host computer via a wireless communication module for subsequent processing, enabling the inspection of the high-voltage transmission line.

[0052] The working principle of this invention is as follows:

[0053] When using this cable-driven obstacle-avoiding robot, first connect the device to a power source, and then... Figure 7-21 Before using the device, adjust the second moving part 19 to the first working position, that is... Figure 7-9 As shown, the cable 48 is then attached to the grooves under the auxiliary front driven wheel 28 and the auxiliary rear driven wheel 29 and positioned above the main drive wheel 41; subsequently, the second moving part 19 is adjusted to the second working position, i.e. Figure 10-12As shown; then the first moving part 1 is moved to the second position along the first preset direction by the translation slider 42, so that each main and auxiliary driven wheel and the main and auxiliary drive wheel are on the same working surface, that is Figure 13-15 As shown; finally, adjust the second moving part 19 to the first working position, that is... Figure 16-18 As shown, the cable 48 is fixed to the main drive wheel 41 via the main front driven wheel 2, the main rear driven wheel 30, and the main drive wheel 41. (In the first working position, it can be used for operation without obstacles; if there are obstacles, the second moving part 19 is adjusted to switch between the first working position and the second working position. The second working position is...) Figure 19-21 (As shown). It should be noted that, Figure 7-21 In order to better illustrate the concept, the second moving part replacement mechanism 46 in the figure is a simplified representation of the second moving part, and the first moving part replacement mechanism 47 is a simplified representation of the first moving part.

[0054] The working process of the detection device can be as follows: When the device is in use, pressing the power button 32 activates the second vision module 10. When the second vision module 10 detects a fault in the cable 48, the cable obstacle avoidance robot will upload the location of the fault. If the second vision module 10 does not detect a fault in the cable 48, the first vision module 9 activates. When the first vision module 9 does not detect an obstacle in front of the cable obstacle avoidance robot, it waits for the start button 31 to activate. When the start button 31 is activated, the main drive motor 15 operates, causing the cable obstacle avoidance robot to move forward. When the first vision module 9 does not detect an obstacle in front of the cable obstacle avoidance robot, the detection action of the second vision module 10 is repeated. When the first vision module 9 does not detect that the cable obstacle avoidance robot has reached the inspection endpoint, the above steps are repeated. When the first vision module 9 detects that the cable obstacle avoidance robot has reached the inspection endpoint, the cable obstacle avoidance robot automatically shuts off power and stops operating. Alternatively, the detection device may not involve the second vision module, in which case the robot can be used for obstacle avoidance and can be further equipped with additional functional modules.

[0055] During normal, unobstructed operation, the first working position is used. When the first vision module 9 detects an obstacle on the cable obstacle-avoiding robot, in the first working position, the main drive motor 15 stops working when the distance between the main front driven wheel 2 and the obstacle is within a first preset distance. The lifting motor 27 starts working, driving the trapezoidal lead screw 17 to rotate through the meshing of the active bevel gear 25 and the driven bevel gear 24. This causes the lead screw nut 18 to move away from the first working position, thereby driving the second moving part 19 to move away from the first working position until the second moving part 19 reaches the third working position. At this point, the auxiliary drive motor 34 starts working, causing the cable obstacle-avoiding robot to move forward. When it has traveled a second preset distance (within the distance between the main front driven wheel 2 and the obstacle), the robot continues to move forward. The distance between the centers of the auxiliary front driven wheels 28 is taken as the second preset distance. The auxiliary drive motor 34 stops working, and the lifting motor 27 starts working in the reverse direction. The second moving part 19 moves towards the first working position until it reaches the first working position. Then, the main drive motor 15 starts working, causing the cable obstacle-avoiding robot to continue moving forward. After traveling the second preset distance, the above actions are repeated until the main and rear driven wheels 30 completely cross the obstacle. Then, the lifting motor 27 starts working in the reverse direction, and the second moving part 19 moves towards the first working position until it reaches the first working position. Then, the main drive motor 15 starts working, causing the cable obstacle-avoiding robot to continue moving forward. During the obstacle-crossing process, the second vision module 10 continues to work and repeatedly performs the second vision module 10 inspection actions.

[0056] In case of an emergency during device testing, the device can be quickly powered off by pressing the stop button 33 to prevent injury to personnel.

[0057] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A cable obstacle avoidance robot, characterized in that, The device includes a first moving part (1), a second moving part (19), a first executing part, and a second executing part. The first executing part is installed on the side of the first moving part (1) near the side of the second moving part (19), and the second executing part is installed on the side of the second moving part (19) near the side of the first moving part (1). The first executing part is movably arranged along a first preset direction with the first moving part (1), and the second executing part is movably arranged along a second preset direction with the second moving part (19). The first executing part has a first position spaced apart from the second executing part and a second position cooperating with the second executing part. When the first executing part is in the first position, it is used to insert / remove the cable (48). When the first executing part is in the second position, the first executing part cooperates with the second executing part to clamp the cable (48). The first preset direction and the second preset direction are perpendicular. The first execution unit includes: A main front driven wheel (2) is mounted on the first moving part (1); The rear driven wheel (30) is mounted on the first moving part (1) and is spaced apart from the front driven wheel (2); the surface of the rear driven wheel (30) that is used to cooperate with the cable (48) and the surface of the front driven wheel (2) that is used to cooperate with the cable (48) are on the same plane parallel to a first preset direction. A lower driven wheel (35) is mounted on the first moving part (1) and located in the lower part between the main front driven wheel (2) and the main rear driven wheel (30); The auxiliary drive wheel (36) is mounted on the first moving part (1) and located in the lower part between the main front driven wheel (2) and the main rear driven wheel (30); the surface of the auxiliary drive wheel (36) that is used to cooperate with the cable (48) and the surface of the auxiliary lower driven wheel (35) that is used to cooperate with the cable (48) are on the same plane parallel to a first preset direction. The second execution unit includes: A front driven wheel (28) is mounted on the second moving part (19); A rear driven wheel (29) is mounted on the second moving part (19) and is spaced apart from the front driven wheel (28); the surface of the rear driven wheel (29) that is used to cooperate with the cable (48) and the surface of the front driven wheel (28) that is used to cooperate with the cable (48) are on the same plane parallel to a first preset direction. Main drive wheel (41); the main drive wheel (41) is mounted on the second moving part (19) and located in the lower part between the auxiliary front driven wheel (28) and the auxiliary rear driven wheel (29); The second actuator has at least a first working position and a third working position. When the second actuator is in the first working position and the first actuator is in the first position, it is used to insert / remove the cable (48); when the first actuator is in the second position and the second actuator is in the first working position, it clamps the cable (48) under the first working position; when the first actuator is in the second position and the second actuator is in the third working position, it clamps the cable (48) under the third working position. The first working position clamps the cable (48) in the following way: the main drive wheel (41) of the second actuator cooperates with the main front driven wheel (2) of the first actuator and the main rear driven wheel (30) of the first actuator to clamp the cable (48). The third working position clamps the cable (48) in the following ways: the auxiliary drive wheel (36) of the first actuator cooperates with the auxiliary front driven wheel (28) of the second actuator, the auxiliary rear driven wheel (29) of the second actuator and the auxiliary lower driven wheel (35) of the first actuator to clamp the cable (48). The second actuator also has a second working position; when the first actuator is in the first position, during the process of the second actuator switching from the first working position to the second working position, the second actuator drives the inserted cable (48) to move along the second preset direction; when the second actuator is in the second working position, it can switch the first actuator from the first position to the second position.

2. The cable obstacle avoidance robot according to claim 1, characterized in that, The cable obstacle avoidance robot also includes a first drive unit, a lifting slider (21), and a lifting guide rail (39). The first drive unit is used to drive the second moving part (19) to move the second execution part along a second preset direction. The lifting guide rail (39) is connected to the frame, and the lifting slider (21) is connected to the second moving part (19). The lifting slider (21) cooperates with the lifting guide rail (39) to guide the movement of the second moving part (19).

3. The cable obstacle avoidance robot according to claim 1, characterized in that, The cable obstacle avoidance robot also includes a translational slider (42) and a translational guide rail (44). The translational guide rail (44) is connected to the frame, and the translational slider (42) is connected to the first moving part (1). The translational guide rail (44) and the translational slider (42) cooperate to guide the movement of the first moving part (1).

Images