Multi-angle rescue and visualized cable rescue robot

Abstract

The application discloses a multi-angle rescue and visual cable rescue robot, which comprises a rescue robot main body, rescue mechanisms fixedly installed on the rescue robot main body, a climbing mechanism, a clamping mechanism and a control module; the rescue mechanisms, the climbing mechanism and the clamping mechanism are electrically connected with the control module; wherein, the rescue mechanisms are arranged at the top of the rescue robot main body in a distributed mode; the rescue mechanism comprises a rescue connecting rod, a ball screw I, a ball screw motor I, a rescue mechanism main body, a ball screw II, a ball screw motor II and a binocular camera. The rescue robot main body is climbed to the lower side of a robot to be rescued, the rescue mechanism on the rescue robot is used for rescuing the robot to be rescued, the robot to be rescued deviating from a cable body by a certain angle can be captured and rescued, and the difficulty and pain point of recycling a cable fault robot by a traditional manual passenger elevator are solved.

Description

Technical Field

[0001] This invention belongs to the technical field of cable inspection equipment, and specifically relates to a cable rescue robot. Background Technology

[0002] As a crucial component of cable-stayed and suspension bridges, cables are constantly exposed to air. Under the long-term effects of bridge loads, rain vibration, and wind vibration, the protective layer (polyethylene PE) on the cable surface is prone to hardening, aging, and other damage, and the internal steel wire bundles are susceptible to breakage and fracture, endangering bridge safety. Therefore, regular inspection and maintenance of cables are extremely important. In related technologies, manual inspection is commonly used for cable inspection and maintenance, but this method is labor-intensive, inefficient, difficult, and dangerous. With technological advancements, cable inspection robots can be used to replace manual inspections. However, cable inspection robots may become stuck on cables due to insufficient obstacle-crossing ability, derailment, or malfunction, making them unrecoverable.

[0003] For inspection robots that cannot be retrieved from cables, existing methods often involve using a lift truck to carry personnel for retrieval. However, this method is often hampered by factors such as traffic control and the need for personnel to work at heights. Furthermore, the rescue height of the lift truck is limited for extremely long cables. In response, relevant technical personnel have proposed several solutions.

[0004] For example, Chinese Patent Application No. 202010051569.6 discloses a cable climbing robot, comprising: a platform, a docking assembly, and at least three sets of drive assemblies. The platform is a ring structure surrounding a cable. The docking assembly includes a first docking portion and a second docking portion. The first docking portion of one cable climbing robot can be adapted to connect with the second docking portion of another cable climbing robot. The first docking portion and the second docking portion are respectively located at both ends of the platform in the direction of movement. The at least three sets of drive assemblies are arranged around the platform to hold the cable. Each set of drive assemblies includes two drive mechanisms, and the two drive mechanisms are respectively mounted on the platform. At both ends of the frame's movement direction, the drive mechanism includes a rotating seat, a limiting adjustment structure, a drive wheel, and a drive structure. The rotating seat is rotatably mounted on the frame. The limiting adjustment structure is connected between the frame and the rotating seat, and can fix the rotating seat or limit its rotation angle. The drive wheel is mounted on the rotating seat near the cable side. In the same drive mechanism, the rotation axis between the rotating seat and the frame is farther from the frame than the rotation axis between the drive wheel and the rotating seat. The drive structure is mounted on the rotating seat and connected to the drive wheel, and the drive wheel is driven to rotate by the drive structure. The first docking part includes a spring, a return member, and two connecting pieces. The two connecting pieces are disposed on the platform and form a notch. One end of the spring is rotatably connected to the end of one of the connecting pieces. The return member is connected between the connecting piece and the spring, providing the spring with a spring force to rotate outward around the connecting piece. One end of the other connecting piece extends inward into the notch to form an abutment end, which abuts against the other end of the spring to prevent the spring from rotating out of the notch. The second docking part is a docking ring disposed on the platform. In this patented solution, when the cable robot encounters a malfunction, another cable robot can be dispatched to connect with it through the first and second docking parts, and then pull the malfunctioning cable robot back to the retrieval position. However, after the first and second docking parts are connected, they cannot be disconnected autonomously again. This may result in the rescue robot being unable to pull the malfunctioning robot (the malfunctioning robot is stuck), and thus unable to return to the retrieval position, becoming part of the malfunctioning robot.

[0005] For example, Chinese patent application number 201320033821.6 discloses a high-altitude cable maintenance engineering robot, including a robot skeleton, multiple climbing mechanisms, and multiple emergency rescue devices. The robot skeleton is movably mounted on cable 1. Multiple climbing mechanisms are evenly arranged between the robot skeleton and the cable. One end of each climbing mechanism movably presses against the cable, and the other end is fixed to the robot skeleton. One end of each emergency rescue device is fixed to the robot skeleton, and the other end is connected to the corresponding climbing mechanism via a transmission connection. The multiple climbing mechanisms drive the entire high-altitude cable maintenance engineering robot to move along the cable. In an emergency, the emergency rescue devices eliminate the frictional force generated by the climbing mechanisms pressing against the cable, allowing the robot to slide down the cable from a height. The emergency rescue device includes a structural frame, a signal transmission controller, an independent power supply, a stepper motor, and a drive rod. The signal transmission controller, independent power supply, and stepper motor are all housed within the structural frame. The signal transmission controller is electrically connected to the independent power supply, which is also electrically connected to the stepper motor. One end of the drive rod is connected to the stepper motor drive, and the other end is connected to the pressure wheel axle in the climbing mechanism. In this design, when the climbing mechanism malfunctions during normal climbing operations and the robot becomes suspended in mid-air, the operator issues a command to activate the emergency rescue device. Upon receiving the rescue command, the independent power supply powers the stepper motor, which in turn pulls the drive rod, causing the wheel axle to move away from the cable's central axis. This eliminates the friction generated by the symmetrical pressure of the pressure roller on the cable surface, allowing the malfunctioning robot to safely slide down the cable, achieving the rescue objective. However, this rescue is limited to situations involving climbing malfunctions. When the robot experiences a complete failure or a signal failure, the emergency rescue device will not function, and the self-rescue objective cannot be achieved.

[0006] For example, Chinese patent application number 200820146421.5 discloses a wheeled inspection robot, which consists of two small vehicles symmetrically arranged along the circumference of cable S. The two vehicles are connected by two sets of connecting parts, which are fixed together with bolts. The active vehicle is equipped with a climbing device, and the driven vehicle is equipped with a clamping device. The climbing device includes an active wheel fixed to the body of the active vehicle and a DC motor; the clamping device consists of two lower arms hinged to the body of the vehicle, pulleys fixed to the arms, and tension springs connecting the pulleys; the robot is installed after the cable, and the tension springs provide positive pressure between the active wheel and the cable through the connecting parts. The DC motor drives the active wheel of the vehicle to rotate through a reduction gearbox and a pair of bevel gears to achieve the climbing motion. The driven wheel is fixed to the body of the active vehicle and tightly abuts against the cable to provide support and balance. The DC motor is powered by a lithium battery. When the aforementioned mechanism malfunctions completely and becomes stuck on the cable, a rescue mechanism equipped with a magnetic docking mechanism can lift the faulty machine back to the ground. This patent employs a magnetic docking mechanism, which requires a high degree of stability in the magnetic attraction force. Summary of the Invention

[0007] The purpose of this invention is to provide a more flexible and controllable multi-angle rescue and visualization cable rescue robot for rescue organizations. This invention involves the rescue robot's main body climbing below the robot to be rescued, and then using the rescue mechanism on the rescue robot to carry out the rescue, thus solving the difficulties and pain points of traditional manual retrieval of cable-faulted robots from a lift vehicle.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A multi-angle rescue and visualization cable rescue robot includes a rescue robot body and a rescue mechanism, a climbing mechanism, a clamping mechanism, and a control module fixedly installed on the rescue robot body. The rescue mechanism, climbing mechanism, and clamping mechanism are electrically connected to the control module. Several rescue mechanisms are evenly distributed and installed on the top of the rescue robot body. Each rescue mechanism includes a rescue connecting rod, a ball screw I, a ball screw motor I, a rescue mechanism body, a ball screw II, a ball screw motor II, and a binocular camera. The ball screw motor II is installed at the bottom interior of the rescue mechanism body. Driven by the ball screw motor II, lever II slides up and down along the inner wall of the main body of the rescue mechanism; ball screw I and ball screw motor I are mounted on top of ball screw II; the screw of ball screw I is connected to ball screw motor I; the slider of ball screw I is connected to the rescue connecting rod through a connecting rod; the rescue connecting rod is an inverted L-shaped connecting rod, and its vertical end is mounted on top of ball screw II through a hinge; ball screw I controls the posture of the rescue connecting rod under the drive of ball screw motor I; the binocular camera is mounted below the horizontal bar of the rescue connecting rod.

[0009] In this invention, the rescue connecting rod of the rescue mechanism is used to dock with the hook under the base plate of the malfunctioning robot. Ball screw I and ball screw motor I work together to adjust the posture of the rescue connecting rod, while ball screw II and ball screw motor II work together to adjust the height of the rescue connecting rod. Specifically, when the rescue connecting rod is directly below the hook, ball screw II moves upward, bringing the rescue connecting rod closer to the hook. Then, the slider of ball screw I moves to the left, causing the rescue connecting rod to tilt to the left. Ball screw II continues to move upward, bringing the rescue connecting rod to a suitable height. Finally, the slider of ball screw I moves to the right, straightening the rescue connecting rod. At this point, the crossbar of the rescue connecting rod inserts into the hook, and ball screw II moves downward, securing the rescue connecting rod firmly to the hook; the rescue operation can then begin.

[0010] As a further preferred improvement of the present invention, a protrusion is provided below the edge of the crossbar of the rescue connecting rod. The protrusion can lock the hook of the malfunctioning robot, making the connection between the rescue connecting rod and the hook more secure.

[0011] As a further preferred improvement of the present invention, a rubber block is provided at the top of the crossbar of the rescue connecting rod. The rubber block can act as a buffer, reducing the impact force of the malfunctioning robot on the rescue robot.

[0012] As a further preferred improvement of the present invention, a pressure sensor is provided at the bottom of the crossbar of the rescue connecting rod. The pressure sensor can effectively detect whether the rescue connecting rod and the hook are securely connected.

[0013] As a further preferred embodiment of the present invention, the rescue mechanism further includes a rescue mechanism rotating motor and a rescue mechanism drive gear; the output shaft of the rescue mechanism rotating motor passes through the bottom plate of the rescue mechanism body and is fixedly mounted on the rescue mechanism drive gear; the rescue mechanism drive gear meshes with the inner ring teeth of the top plate of the rescue robot body. Through the cooperation of the rescue mechanism rotating motor and the rescue mechanism drive gear, the rescue mechanism can be moved in a circular motion, making it easy to adjust it to a position below the hook of the faulty robot.

[0014] As a further explanation of the present invention, the clamping mechanism includes clamping rods, clamping rotating shafts, a clamping transmission gear set, and a clamping motor; there are two clamping rotating shafts, and a clamping rod is installed at the upper and lower parts of each shaft; the clamping transmission gear set consists of a clamping driven gear I, a clamping driving gear, a clamping transition gear, and a clamping driven gear II meshing sequentially; the clamping driven gear I and the clamping driven gear II are respectively mounted on the two clamping rotating shafts; the clamping driving gear is fixedly mounted on the output shaft of the clamping motor. When the rescue robot is hovering, the clamping mechanism starts to work, and the four clamping rods can tightly clamp the cable, providing a stable working environment for the rescue mechanism and relieving the pressure of the climbing mechanism on the cable.

[0015] As a further explanation of the present invention, the climbing mechanism includes a climbing drive wheel assembly, a climbing motor, and a climbing driven wheel assembly; the climbing drive wheel assembly includes a climbing drive wheel I and a climbing drive wheel II connected by a belt; the output shaft of the climbing motor is connected to the climbing drive wheel II; the climbing driven wheel assembly includes a climbing driven wheel I and a climbing driven wheel II connected by a tension spring.

[0016] In this invention, the main body of the rescue robot includes a ring-shaped top plate and a bottom plate; the top of the top plate is provided with a protrusion and the inner side of the protrusion is provided with teeth.

[0017] The rescue robot of this invention also includes a power source for providing electrical energy to the rescue mechanism, climbing mechanism, gripping mechanism, and control device. It also includes a remote control tablet wirelessly connected to the control device for receiving data from the control device and sending control commands. The electronic components in this invention, such as ball screw motor I, ball screw motor II, binocular camera, rescue mechanism rotation motor, climbing motor, and gripping motor, are all electrically connected to the control device and operate according to the control commands from the control device.

[0018] The rescue method of the cable rescue robot of the present invention is as follows: assemble the rescue robot onto the cable, use a binocular camera for distance judgment and video monitoring, automatically / manually control the rescue robot to reach the bottom of the robot to be rescued, the clamping mechanism starts working, the climbing wheel group stops working, the rescue mechanism carries out the rescue work, if the rescue is successful, bring back the robot to be rescued, and end the rescue work; if the rescue fails, adjust the plan and start the rescue again.

[0019] The rescue mechanism employs the following method: Different numbers of rescue mechanisms can be assembled as needed, such as one or two. To prevent tangling, the circumferential angle of each rescue mechanism is set to no more than 200° on one side by adjusting the number of rotations of the rotating motor and the gear ratio. A binocular camera is used to analyze and determine the robot's posture and the cause of the malfunction (derailment, jamming), determining the optimal rescue method and position. The circumferential position of the rescue mechanism is adjusted by rotating the motor assembly. The rescue connecting rod is mounted on the slider of ball screw II via a ball joint, and the vertical distance of the rescue connecting rod is adjusted by ball screw motor II. Simultaneously, the rescue connecting rod is connected to the slider of ball screw I via a connecting rod, enabling radial adjustment. Thus, the rescue mechanism can achieve fine adjustment in three directions: circumferential, vertical, and radial, accommodating various postures of the robot to be rescued. The rescue robot's connecting rod is a hook-type mechanism, using a ball screw I for hooking and releasing. After hooking, it can perform the optimal rescue action according to three adjustable directions. A pressure sensor is installed on the rescue connecting rod to determine the success of the hooking. If the robot to be rescued is derailed, the rescue mechanism corrects its posture to restore it to the correct position. If the malfunction is due to stuck wheels, it helps the robot overcome the obstacle. Once the rescue robot regains mobility, it can return on its own. If the robot to be rescued loses mobility after a successful rescue, a rubber block is installed on top of the rescue mechanism. After a successful rescue, the robot falls a short distance naturally, and the rubber block acts as a buffer, supporting both the robot and the rescue robot as they return together. If the rescue fails, the hook can be released, and the rescue robot returns on its own.

[0020] The rescue robot is a split-type robot connected by bolts during operation. It is powered by a climbing motor, and ascends and descends through the friction between the climbing drive wheel assembly, the climbing driven wheel assembly, and the cable. The climbing drive wheel assembly is driven by a belt, and tension springs between the climbing driven wheel assemblies ensure that the two driven wheels are pressed firmly against the cable, providing sufficient clamping force and climbing friction, while also enabling obstacle crossing. The gripping mechanism functions during rescue operations; at this time, the climbing motor stops operating, and the gripping mechanism holds the cable, providing the friction force for the robot to remain in the rescue position. The gripping mechanism is powered and transmitted by a gripping motor and a gripping transmission gear set. The rescue organization connects to the main body of the rescue robot via a chute-rail structure. It uses a binocular camera to determine the position of the connecting rod of the robot to be rescued (if the robot is faulty) or, for robots without connecting rods, the location where rescue can be carried out. The rescue organization is driven to rotate in a circular motion by a rotating motor and gear transmission. The binocular camera can simultaneously measure distance and monitor, determining the optimal rescue position. The control module controls the robot's movements. The power module is a battery or wired cable. A remote control tablet allows for remote control and monitoring.

[0021] Advantages of this invention: 1. Replaces manual labor, improves efficiency, and reduces operational risks.

[0022] 2. Manual / automatic control switching with intelligent recognition.

[0023] 3. The robots awaiting rescue are in various postures, making rescue difficult. The rescue mechanism is three-way adjustable, highly adaptable, and can capture robots that have deviated from the cable at a certain angle.

[0024] 4. Simple structure, easy to assemble and disassemble. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the front view structure of an embodiment of the present invention.

[0026] Figure 2 yes Figure 1 A schematic diagram of the left-side view structure.

[0027] Figure 3 yes Figure 1 A schematic diagram of the right-side structure.

[0028] Figure 4 This is a cross-sectional structural diagram of an embodiment of the present invention.

[0029] Figure 5 This is a top view of an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the structure of a rescue mechanism in one embodiment of the present invention.

[0031] Figure 7 This is a three-dimensional schematic diagram of a portion of the structure of the rescue connecting rod of the rescue mechanism in one embodiment of the present invention.

[0032] Figure 8 This is a schematic diagram of a rescue robot that has deviated from the cable at a certain angle.

[0033] Figure 9 This is a schematic diagram of the axial structure of an embodiment of the present invention.

[0034] Figure 10 This is a schematic diagram of another axial structure according to an embodiment of the present invention.

[0035] Reference numerals: 1-Cable, 2-Faulty robot, 201-Faulty robot base plate, 202-Faulty robot hook, 3-Rescue mechanism, 301-Rescue connecting rod, 302-Ball screw I, 303-Ball screw motor I, 304-Rescue mechanism body, 305-Ball screw motor II, 306-Ball screw II, 307-Binocular camera, 308-Rubber block, 309-Helical gear, 310-Rescue mechanism rotary motor, 311-Rescue mechanism drive gear, 4-Rescue robot body, 5-Climbing drive wheel assembly 501-Climbing drive wheel I, 502-Belt, 503-Climbing drive wheel II, 6-Climbing motor, 7-Control module, 8-Clamping rod, 9-Climbing driven wheel set, 901-Climbing driven wheel I, 902-Tension spring, 903-Climbing driven wheel II, 10-Clamping transmission gear set, 1001-Clamping driven gear I, 1002-Clamping drive gear, 1003-Clamping transition gear, 1004-Clamping driven gear II, 11-Clamping motor, 12-Clamping rotating shaft, 13-Power supply, 14-Remote control plate. Detailed Implementation

[0036] The invention will be further described below with reference to the accompanying drawings. Example

[0037] like Figure 1-10 As shown, a multi-angle rescue and visualization cable rescue robot includes a rescue robot body 4, and rescue mechanisms 3, climbing mechanisms, clamping mechanisms, and a control module 7 fixedly installed on the rescue robot body 4; the rescue mechanisms 3, climbing mechanisms, and clamping mechanisms are electrically connected to the control module 7; wherein: several rescue mechanisms 3 are provided, evenly distributed and installed on the top of the rescue robot body 4; as shown Figure 6As shown, the rescue mechanism 3 includes a rescue connecting rod 301, a ball screw I 302, a ball screw motor I 303, a rescue mechanism body 304, a ball screw II 306, a ball screw motor II 305, and a binocular camera 307; the ball screw motor II 305 is installed at the bottom of the rescue mechanism body 304; the ball screw II 306 slides up and down along the inner wall of the rescue mechanism body 304 under the drive of the ball screw motor II 305; the ball screw I 302 and the ball screw motor I 303 are installed on the ball screw... The top of the ball screw II 306; the screw of the ball screw I 302 is connected to the ball screw motor I 303; the slider of the ball screw I 302 is connected to the rescue connecting rod 301 through a connecting rod; the rescue connecting rod 301 is an inverted L-shaped connecting rod, and its vertical bottom end is installed on the top of the ball screw II 306 through a hinge; the ball screw I 302 controls the posture of the rescue connecting rod 301 under the drive of the ball screw motor I 303; the binocular camera 307 is installed below the horizontal bar of the rescue connecting rod 301.

[0038] This embodiment provides a further structural description of the clamping mechanism, which includes clamping rods 8, clamping rotating shafts 12, clamping transmission gear sets 10, and clamping motors 11. Two clamping rotating shafts 12 are provided, with a clamping rod 8 installed at both the upper and lower parts of each shaft. The clamping transmission gear set 10 consists of a clamping driven gear I 1001, a clamping driving gear 1002, a clamping intermediate gear 1003, and a clamping driven gear II 1004 that mesh sequentially. The clamping driven gear I 1001 and the clamping driven gear II 1004 are respectively mounted on the two clamping rotating shafts 12. The clamping driving gear 1002 is fixedly mounted on the output shaft of the clamping motor 11. The climbing mechanism includes a climbing drive wheel assembly 5, a climbing motor 6, and a climbing driven wheel assembly 9; the climbing drive wheel assembly 5 includes a climbing drive wheel I 501 and a climbing drive wheel II 503 connected by a belt 502; the output shaft of the climbing motor 6 is connected to the climbing drive wheel II 503; the climbing driven wheel assembly 9 includes a climbing driven wheel I 901 and a climbing driven wheel II 903 connected by a tension spring 902. Example

[0039] This embodiment is a further optimization and improvement of the rescue mechanism of Embodiment 1, specifically: a protrusion is provided below the edge of the crossbar of the rescue connecting rod 301. Example

[0040] This embodiment is a further optimization and improvement of the rescue mechanism of Embodiment 1, specifically: the top of the crossbar of the rescue connecting rod 301 is provided with a rubber block 308. Example

[0041] This embodiment is a further optimization and improvement of the rescue mechanism of Embodiment 1. Specifically, the rescue mechanism 3 further includes a rescue mechanism rotating motor 310 and a rescue mechanism drive gear 311; the output shaft of the rescue mechanism rotating motor 310 passes through the bottom plate of the rescue mechanism body 304 and is fixedly installed with the rescue mechanism drive gear 311; the rescue mechanism drive gear 311 meshes with the inner ring teeth of the top plate of the rescue robot body 4.

[0042] Obviously, the above embodiments are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description; it is neither necessary nor possible to exhaustively list all possible implementations; however, obvious variations or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A multi-angle rescue and visualization cable rescue robot, comprising a rescue robot body (4), and a rescue mechanism (3), a climbing mechanism, a clamping mechanism, and a control module (7) fixedly mounted on the rescue robot body (4); wherein the rescue mechanism (3), the climbing mechanism, and the clamping mechanism are electrically connected to the control module (7); characterized in that: The rescue mechanism (3) is provided in several units, which are evenly distributed and installed on the top of the rescue robot body (4); The rescue mechanism (3) includes a rescue connecting rod (301), ball screw I (302), ball screw motor I (303), rescue mechanism body (304), ball screw II (306), ball screw motor II (305), and binocular camera (307). The ball screw motor II (305) is installed at the bottom inside of the main body (304) of the rescue mechanism; The ball screw II (306) slides up and down along the inner wall of the main body (304) of the rescue mechanism under the drive of the ball screw motor II (305); The ball screw I (302) and ball screw motor I (303) are mounted on top of the ball screw II (306); The screw of the ball screw I (302) is connected to the ball screw motor I (303); the slider of the ball screw I (302) is connected to the rescue connecting rod (301) through a connecting rod. The rescue connecting rod (301) is an inverted L-shaped connecting rod, and its vertical bottom end is installed on the top of the ball screw II (306) through a hinge. The ball screw I (302) controls the posture of the rescue connecting rod (301) under the drive of the ball screw motor I (303); The binocular camera (307) is installed below the crossbar of the rescue connecting rod (301).

2. The multi-angle rescue and visualization cable rescue robot according to claim 1, characterized in that: The rescue connecting rod (301) has a protrusion below the edge of the crossbar.

3. The multi-angle rescue and visualization cable rescue robot according to claim 1, characterized in that: The top of the crossbar of the rescue connecting rod (301) is provided with a rubber block (308).

4. The multi-angle rescue and visualization cable rescue robot according to claim 1, characterized in that: The rescue mechanism (3) also includes a rescue mechanism rotating motor (310) and a rescue mechanism drive gear (311); the output shaft of the rescue mechanism rotating motor (310) passes through the bottom plate of the rescue mechanism body (304) and is fixedly installed with the rescue mechanism drive gear (311); the rescue mechanism drive gear (311) meshes with the inner ring tooth pattern of the top plate of the rescue robot body (4).

5. The multi-angle rescue and visualization cable rescue robot according to claim 1, characterized in that: The clamping mechanism includes a clamping rod (8), a clamping rotating shaft (12), a clamping transmission gear set (10), and a clamping motor (11). The clamping rotating shaft (12) is provided with two shafts, and a clamping rod (8) is installed on the upper part and the bottom of the clamping rotating shaft (12). The clamping transmission gear set (10) consists of a clamping driven gear I (1001), a clamping driving gear (1002), a clamping transition gear (1003), and a clamping driven gear II (1004) that mesh in sequence; the clamping driven gear I (1001) and the clamping driven gear II (1004) are respectively mounted on two clamping rotating shafts (12); the clamping driving gear (1002) is fixedly mounted on the output shaft of the clamping motor (11).

6. The multi-angle rescue and visualization cable rescue robot according to claim 1, characterized in that: The climbing mechanism includes a climbing drive wheel assembly (5), a climbing motor (6), and a climbing driven wheel assembly (9). The climbing drive pulley assembly (5) includes climbing drive pulley I (501) and climbing drive pulley II (503) connected by a belt (502); the output shaft of the climbing motor (6) is connected to climbing drive pulley II (503); The climbing driven wheel assembly (9) includes climbing driven wheel I (901) and climbing driven wheel II (903) connected by a tension spring (902).

Images