A cable inspection robot

Abstract

The application discloses a cable maintenance robot, which comprises a body frame, two supporting devices, a crawling device and a cable maintenance device. The two supporting devices are arranged at the front and rear ends of the body frame respectively. The supporting device comprises a roller mechanism and a first power member. The roller mechanism is arranged on the body frame to rotate around the width direction of the body frame. The first power member is used for driving the roller mechanism to rotate. The crawling device comprises a first mounting seat, two crawling mechanisms and a first driving assembly. The two crawling mechanisms are arranged on the first mounting seat to slide along the width direction of the body frame. The first driving assembly is used for driving the two crawling mechanisms to slide along the width direction of the body frame. The cable maintenance device is arranged on the body frame. It can be understood that the roller mechanism is arranged on the body frame to rotate up and down. The crawling mechanism is arranged on the body frame to slide along the width direction of the body frame. Therefore, the cable maintenance robot can effectively avoid large obstacles during the process of climbing along the handrail rope, so as to climb forward.

Description

Technical Field

[0001] This invention relates to the technical field of cable maintenance, and more particularly to a cable maintenance robot. Background Technology

[0002] The key load-bearing component of cable-stayed bridges is the cable, which is covered by a protective layer. Damage to this protective layer, such as mechanical damage or aging, and surface breakage, allows rainwater to seep into the cable, causing corrosion of the steel wires. Combined with wind and rain vibrations, this leads to friction and wear between the internal steel wire bundles, accelerating wire breakage.

[0003] In related technologies, cable maintenance robots have a support device. The roller assembly of the support device crawls along the extension direction of the cable, allowing the cable maintenance robot to perform maintenance on the cable. When crossing obstacles, the roller assembly of the support device overcomes the elastic force of the shock absorber and rotates upwards, effectively avoiding obstacles in front.

[0004] However, some suspension bridges often have landscape lights located above the handrails, which pose a significant obstacle to cable maintenance robots, which are clearly unable to overcome these obstacles. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a cable maintenance robot that can overcome large obstacles during application.

[0006] This application provides a cable maintenance robot, including:

[0007] Fuselage frame;

[0008] Two support devices are respectively disposed at the front and rear ends of the frame. Each support device includes a roller mechanism and a first power component. The roller mechanism is rotatably disposed on the frame about the width of the frame. The first power component is disposed on the frame and is used to drive the roller mechanism to rotate.

[0009] A crawling device is disposed on the fuselage frame and located between the two supporting devices; wherein the crawling device includes a first mounting base, two crawling mechanisms and a first driving assembly, the two crawling mechanisms are slidably disposed on the first mounting base along the width direction of the fuselage frame, and the first driving assembly is used to drive the two crawling mechanisms to slide along the width direction of the fuselage frame;

[0010] A cable maintenance device is installed on the fuselage frame and is used for cable maintenance.

[0011] According to some embodiments of the present invention, the support device further includes a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is rotatably connected to the frame and the other end is rotatably connected to the roller mechanism, one end of the second connecting rod is rotatably connected to the frame and the other end is rotatably connected to the roller mechanism, the first connecting rod and the second connecting rod are spaced apart in a preset plane, and the preset plane is perpendicular to the rotation axis of the crawling mechanism.

[0012] According to some embodiments of the present invention, the roller mechanism includes:

[0013] The mounting base is rotatably mounted on the machine frame, and the first power component is used to drive the mounting base to rotate.

[0014] A bidirectional adjusting screw is disposed on the mounting base along the width direction of the machine frame and is rotatably connected to the mounting base;

[0015] The second power component is disposed on the mounting base and is used to drive the bidirectional adjusting screw to rotate;

[0016] Two adjusting seats are slidably disposed on the mounting base along the width direction of the machine frame and are threadedly connected to the bidirectional adjusting screw;

[0017] Two support wheel assemblies, one of which is connected to one of the adjustment seats, and the other of which is connected to the other of the adjustment seats.

[0018] According to some embodiments of the present invention, the crawling device includes two first drive components, one of which is disposed on the front side of the first mounting base, and the other of which is located on the front side of the first mounting base and connected to the first drive component; the other of which is disposed on the rear side of the first mounting base, and the other of which is located on the rear side of the first mounting base and connected to the first drive component.

[0019] Alternatively, the first drive assembly includes a bidirectional lead screw, a first drive member, and two first sliding seats, wherein the bidirectional lead screw is rotatably mounted on the first mounting seat, the two first sliding seats are slidably mounted on the first mounting seat along the width direction of the frame, the first drive member is mounted on the first mounting seat and is used to drive the bidirectional lead screw to rotate, and the two crawling mechanisms are respectively connected to the first sliding seats.

[0020] According to some embodiments of the present invention, the crawling mechanism includes:

[0021] The second mounting bracket is connected to the first drive component;

[0022] The lower roller assembly is slidably disposed on the second mounting base along the height direction of the machine frame;

[0023] The upper roller assembly is slidably disposed on the second mounting base along the height direction of the machine frame;

[0024] The second drive assembly is connected to the lower roller assembly and the upper roller assembly, and is used to drive the lower roller assembly and the upper roller assembly to move closer or further apart.

[0025] According to some embodiments of the present invention, the second driving component includes:

[0026] A bidirectional transmission lead screw is disposed on the second mounting base along the height direction of the machine frame and is rotatably connected to the second mounting base;

[0027] Two second sliding seats are slidably disposed on the second mounting base along the height direction of the fuselage frame;

[0028] The second driving component is disposed on the second mounting base and is used to drive the bidirectional transmission screw to rotate.

[0029] According to some embodiments of the present invention, the lower roller assembly includes a plurality of lower rollers for pressing against the lower side of the cable; the upper roller assembly includes a plurality of upper rollers for pressing against the upper side of the cable, wherein, along the length direction of the frame, the lower rollers and the upper rollers are arranged alternately in sequence, and at least one of the lower rollers and the upper rollers is provided with a drive motor.

[0030] According to some embodiments of the present invention, the lower roller assembly includes two lower rollers, and the upper roller assembly includes one upper roller, wherein the upper roller is provided with a drive motor.

[0031] According to some embodiments of the present invention, at least two crawling devices are provided, which are arranged sequentially along the length of the frame and located between the two support devices.

[0032] According to some embodiments of the present invention, the crawling device further includes a third drive assembly disposed on the frame, the first mounting seat disposed on the third drive assembly, and the third drive assembly being used to drive the first mounting seat to slide along the length direction of the frame.

[0033] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: If the roller mechanism of a support device encounters an obstacle in front, the first power member drives the roller mechanism of the support device to rotate upward to avoid the obstacle; at the same time, another support device and the crawling device support the cable robot and continue to crawl forward, and the rotated roller mechanism crosses the obstacle. Then, the first power member drives the roller mechanism to rotate downward to the initial position to press against the handrail again. Similarly, if the crawling mechanism of a crawling device encounters an obstacle in front, the first drive assembly drives the crawling mechanism to move inward along the width direction of the frame to avoid the obstacle. At the same time, the support device and the other crawling device continue to move forward along the handrail, and the moved crawling mechanism crosses the obstacle. Then, the first drive assembly drives the crawling mechanism to move outward to the initial position to press against the handrail again. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the cable repair robot in application according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the overall structure of the cable repair robot according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the support device according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the crawling device according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the crawling mechanism in the crawling device according to an embodiment of the present invention.

[0039] The meanings of the reference numerals in the attached figures are as follows:

[0040] 10. Cable; 20. Handrail rope; 100. Frame; 200. Support device; 210. Roller mechanism; 211. Mounting base; 212. Bidirectional adjusting screw; 213. Second power component; 214. Adjusting seat; 215. Support wheel assembly; 220. First power component; 230. First connecting rod; 240. Second connecting rod; 300. Crawling device; 310. First mounting seat; 320. Crawling mechanism; 321. Second mounting seat; 322. Lower roller assembly; 3221. Lower roller; 323. Upper roller assembly; 3231. Upper roller; 3232. Drive motor; 324. Second drive assembly; 3241. Second drive component; 3242. Bidirectional transmission screw; 3243. Second sliding seat; 330. First drive assembly; 331. First drive component; 332. Drive screw; 333. First sliding seat. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, up, down, etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0043] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0044] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0045] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The present invention will now be described in further detail with reference to the accompanying drawings.

[0047] Please see Figures 1 to 2 This invention provides a cable repair robot, comprising a frame 100, two support devices 200, a crawling device 300, and a cable repair device. The two support devices 200 are respectively located at the front and rear ends of the frame 100. Each support device 200 includes a roller mechanism 210 and a first power component 220 (see reference 200). Figure 3The roller mechanism 210 is rotatably mounted on the frame 100 about the width of the frame, meaning the axis of rotation of the roller mechanism 210 is positioned in the left-right direction. A first power component 220 is mounted on the frame 100 and drives the roller mechanism 210 to rotate. This power component can be a motor, electric actuator, cylinder, or other drive module. A crawling device 300 is mounted on the frame 100 and located between the two support devices 200. The crawling device 300 includes a first mounting base 310, two crawling mechanisms 320, and a first drive assembly 330 (see reference). Figure 4 Two crawling mechanisms 320 are slidably mounted on the first mounting base 310 along the width direction of the fuselage frame 100. The first drive assembly 330 is used to drive the two crawling mechanisms 320 to slide along the width direction of the fuselage frame 100. The cable maintenance device is mounted on the fuselage frame 100 and is used to maintain the cable 10.

[0048] The width direction of the fuselage frame 100 is the left-right direction in the attached drawing, the length direction of the fuselage frame 100 is the front-back direction in the attached drawing, and the height direction of the fuselage frame 100 is the up-down direction in the attached drawing. These will not be described in detail later.

[0049] In practical applications, the rollers of the crawling device 300 can usually be equipped with a drive motor 3232 to enable the crawling device 300 to crawl along the handrail rope 20; similarly, the rollers of the support device 200 can also be equipped with a drive motor 3232 to enable the support device 200 to crawl along the handrail rope 20.

[0050] Specifically, during the operation of the cable robot 10, the rollers of the support device 200 roll forward along the two upper handrail ropes 20, the crawling device 300 rolls forward along the two lower handrail ropes 20, and the cable inspection device inspects and repairs the cable 10.

[0051] In this scenario, if the roller mechanism 210 of one support device 200 encounters an obstacle, the first power component 220 drives the roller mechanism 210 of the support device 200 to rotate upwards to avoid the obstacle. Simultaneously, another support device 200 and the crawling device 300 support the cable 10 robot and continue crawling forward, with the rotated roller mechanism 210 passing over the obstacle. Then, the first power component 220 drives the roller mechanism 210 to rotate downwards back to its initial position to press against the handrail rope 20 again. Similarly, if the crawling mechanism 320 of one crawling device 300 encounters an obstacle, the first drive component 330 drives the crawling mechanism 320 to move inwards along the width direction of the frame 100 to avoid the obstacle. Simultaneously, the support device 200 and the other crawling device 300 continue to move forward along the handrail rope 20, with the moved crawling mechanism 320 passing over the obstacle. Then, the first drive assembly 330 drives the crawling mechanism 320 to move outward to the initial position to press against the handrail rope 20 again.

[0052] As can be seen from the above, the cable repair robot adopts the above-mentioned structural form, that is, the roller mechanism 210 is rotated up and down on the frame 100, and the crawling mechanism 320 is slidably disposed on the frame 100 along the width direction of the frame 100. Thus, the cable repair robot can effectively avoid large obstacles and crawl forward while crawling along the handrail rope 20.

[0053] In some embodiments, refer to Figure 2 At least two crawling devices 300 are provided, arranged sequentially along the length of the frame 100 and located between the two support devices 200. It is understood that when one crawling device 300 is in a avoidance state, the other crawling device 300 can operate normally, thus ensuring that the cable repair robot can crawl along the handrail 20 to achieve the avoidance of the crawling device 300. Of course, the rollers of the support device 200 are equipped with drive motors 3232 to drive the rollers to rotate; therefore, even if only one crawling device 300 is provided, it is still possible to ensure that the cable repair robot can crawl along the handrail 20.

[0054] In some embodiments, refer to Figure 2 and Figure 3The support device 200 also includes a first connecting rod 230 and a second connecting rod 240. One end of the first connecting rod 230 is rotatably connected to the frame 100, and the other end is rotatably connected to the roller mechanism 210. The second connecting rod 240 is arranged approximately parallel above the first connecting rod 230, with one end rotatably connected to the frame 100 and the other end rotatably connected to the roller mechanism 210. The first connecting rod 230 and the second connecting rod 240 are spaced apart in a preset plane, which is perpendicular to the axis of rotation of the crawling mechanism 320. The preset plane is a vertical plane; more precisely, the first connecting rod 230 and the second connecting rod 240 are arranged parallel to each other in a vertical plane, and the roller mechanism 210 is rotatably mounted on the frame 100 via the first connecting rod 230 and the second connecting rod 240. The first power component 220 is an electric push rod, cylinder, etc. The bottom of the first power component 220 is rotatably connected to the frame 100. The piston rod of the first power component 220 is rotatably connected to the roller mechanism 210. Thus, during the extension and retraction process, the piston rod of the first power component 220 pushes the roller mechanism 210 to rotate up and down, so as to realize the obstacle avoidance of the roller mechanism 210.

[0055] It is understandable that the roller mechanism 210 forms a parallelogram linkage structure with the frame 100 through the first link 230 and the second link 240. With this configuration, the roller mechanism 210 can rotate up and down within a controllable range, which is convenient for control. When the roller mechanism 210 rotates up and down through the first link 230 and the second link 240, it has better stability.

[0056] In some embodiments, the roller mechanism 210 includes a mounting base 211, a bidirectional adjusting screw 212, a second power component 213, two adjusting seats 214, and two support wheel assemblies 215. The mounting base 211 is rotatably mounted on the machine frame 100 via a first connecting rod 230 and a second connecting rod 240. The first power component 220 is used to drive the mounting base 211 to rotate up and down. The bidirectional adjusting screw 212 is disposed on the mounting base 211 along the width direction of the machine frame 100, and both ends of the bidirectional adjusting screw 212 are rotatably connected to the mounting base 211. The second power component 213 is a servo motor, located at the midpoint of the mounting base 211 along its length. The drive shaft of the second power component 213 is connected to the midpoint of the bidirectional adjusting screw 212 via a reduction gearbox. The second power component 213 drives the bidirectional adjusting screw 212 to rotate. Two adjusting seats 214 are slidably mounted on the mounting base 211 along the width of the frame 100 via guide rails. One adjusting seat 214 is threadedly connected to one threaded section of the bidirectional adjusting screw 212, and the other adjusting seat 214 is threadedly connected to the other threaded section of the bidirectional adjusting screw 212. A support wheel assembly 215 is connected to one adjusting seat 214, with its rollers pressed against a handrail rope 20. Another support wheel assembly 215 is connected to another adjusting seat 214, with its rollers pressed against another parallel handrail rope 20.

[0057] Specifically, the second power component 213 drives the bidirectional adjusting screw 212 to rotate. The bidirectional adjusting screw 212 causes the two adjusting seats 214 to move closer or further apart relative to each other. The two support wheel assemblies 215 move synchronously closer or further apart relative to each other with the two adjusting seats 214 to achieve obstacle avoidance. Specifically, if the obstacle in front of the support wheel assembly 215 is large, the first power component 220 drives the support wheel assembly 215 to rotate upwards via the mounting base 211. The second power component 213 drives the support wheel assembly 215 to move closer relative to each other via the bidirectional adjusting screw 212, thereby avoiding the obstacle. Simultaneously, the support device 200 drives the cable maintenance robot to continue moving forward, and the support wheel assembly 215 crosses the obstacle. After crossing the obstacle, the second power component 213 drives the support wheel assembly 215 to move further away relative to each other via the bidirectional adjusting screw 212, thereby moving it above the handrail rope 20. The first power component 220 drives the support wheel assembly 215 to move downward through the mounting base 211, and the rollers of the support wheel assembly 215 press against the handrail rope 20 again.

[0058] In one possible embodiment, reference is made to... Figures 2 to 4The crawling device 300 includes two first drive components 330. One first drive component 330 is disposed on the front side of the first mounting base 310, and a crawling mechanism 320 is located on the front side of the first mounting base 310 and connected to the first drive component 330. Thus, the first drive component 330 is used to drive the crawling mechanism 320 to move left and right so that the crawling mechanism 320 can avoid obstacles in front. The other first drive component 330 is disposed on the rear side of the first mounting base 310, and another crawling mechanism 320 is located on the rear side of the first mounting base 310 and connected to the first drive component 330. Thus, the first drive component 330 is used to drive the crawling mechanism 320 to move left and right so that the crawling mechanism 320 can avoid obstacles in front.

[0059] Understandably, the two crawling mechanisms 320 are respectively located on the front and rear sides of the first mounting base 310, and the two crawling mechanisms 320 are compactly assembled together. Furthermore, the two crawling mechanisms 320 are staggered front to back, so that the two crawling mechanisms 320 will not interfere with each other in the left and right directions, thereby ensuring that the two crawling mechanisms 320 have a sufficiently large stroke in the left and right directions to avoid obstacles in front.

[0060] Further, the first drive assembly 330 includes a first drive member 331, a drive screw 332, and a first sliding seat 333. The drive screw 332 is disposed on the front or rear side of the first mounting base 310 in a left-right direction and is rotatably connected to the first mounting base 310. The first sliding seat 333 is slidably disposed on the front or rear side of the first mounting base 310 in a left-right direction. The drive screw 332 and the first sliding seat 333 are threadedly connected. The crawling mechanism 320 is connected to the first sliding seat 333. The first drive member 331 can be a servo motor and is horizontally fixedly connected to the lower side of the first mounting base 310. The drive shaft of the first drive member 331 is connected to the drive screw 332 via a transmission belt, enabling the drive screw 332 to rotate. Specifically, the first drive member 331 drives the drive screw 332 to rotate, and during rotation, the drive screw 332 drives the first sliding seat 333 to slide left and right. The crawling mechanism 320 slides left and right synchronously with the first sliding seat 333, thereby avoiding obstacles in front.

[0061] In other possible embodiments, the first drive assembly 330 includes a bidirectional lead screw (not shown), a first drive member 331, and two first sliding seats 333. The bidirectional lead screw is disposed on the first mounting base 310 in a left-right direction and is rotatably connected to the first mounting base 310. The two first sliding seats 333 are slidably disposed on the first mounting base 310 in the width direction of the frame 100, or in other words, slidably disposed on the first mounting base 310 in a left-right direction. One first sliding seat 333 is threadedly connected to a threaded section of the bidirectional lead screw, and a crawling mechanism 320 is connected to this first sliding seat 333; the other first sliding seat 333 is threadedly connected to another threaded section of the bidirectional lead screw, and another crawling mechanism 320 is connected to this first sliding seat 333. In specific operation, the first drive member 331 drives the bidirectional lead screw to rotate. During the rotation, the bidirectional lead screw drives the two first sliding seats 333 to slide towards each other. The two crawling mechanisms 320 move synchronously towards each other with the two first sliding seats 333, thereby avoiding obstacles in front.

[0062] In some embodiments, refer to Figure 4 and Figure 5 The crawling mechanism 320 includes a second mounting base 321, a lower roller assembly 322, an upper roller assembly 323, and a second drive assembly 324. The second mounting base 321 is connected to the first sliding seat 333 of the first drive assembly 330. The lower roller assembly 322 is slidably disposed on the outside of the second mounting base 321 along the height direction of the frame 100. The upper roller assembly 323 is located above the lower roller assembly 322 and is also slidably disposed on the outside of the second mounting base 321 along the height direction of the frame 100. The second drive assembly 324 is disposed on the second mounting base 321 and connected to the lower roller assembly 322 and the upper roller assembly 323, and is used to drive the lower roller assembly 322 and the upper roller assembly 323 to move towards each other or away from each other.

[0063] Specifically, when the crawling device 300 encounters an obstacle, firstly, the second drive assembly 324 drives the lower roller assembly 322 and the upper roller assembly 323 to move away from each other, i.e., the lower roller assembly 322 moves downward and the upper roller assembly 323 moves upward. Then, the first drive assembly 330 drives the lower roller assembly 322 and the upper roller assembly 323 to move inward along the width direction of the frame 100 to avoid the obstacle. At the same time, the support device 200 and the other crawling device 300 continue to move forward along the handrail rope 20, and the moved lower roller assembly 322 and the upper roller assembly 323 cross the obstacle. Finally, the first drive assembly 330 drives the lower roller assembly 322 and the upper roller assembly 323 to move outward to above and below the handrail rope 20, respectively, and the second drive assembly 324 drives the lower roller assembly 322 and the upper roller assembly 323 to move towards each other to press against the handrail rope 20.

[0064] Furthermore, the second drive assembly 324 includes a bidirectional transmission screw 3242, two second sliding seats 3243, and a second drive member 3241. The bidirectional transmission screw 3242 is mounted on the second mounting base 321 along the height direction of the frame 100, with its upper and lower ends rotatably connected to the second mounting base 321. The two second sliding seats 3243 are slidably mounted on the second mounting base 321 along the height direction of the frame 100. One second sliding seat 3243 is threadedly connected to a threaded section of the bidirectional transmission screw 3242, and the base of the lower roller assembly 322 is connected to this second sliding seat 3243. The other second sliding seat 3243 is threadedly connected to the other threaded section of the bidirectional transmission screw 3242, and the base of the upper roller assembly 323 is connected to this second sliding seat 3243. The second driving component 3241 is a servo motor vertically mounted on one side of the second mounting base 321. The drive shaft of the second driving component 3241 is connected to the upper end of the bidirectional transmission screw 3242 via a gear assembly, thereby driving the bidirectional transmission screw 3242 to rotate. In the specific working process, the second driving component 3241 drives the bidirectional transmission screw 3242 to rotate. During the rotation, the bidirectional transmission screw 3242 drives the two second sliding seats 3243 to move towards each other or away from each other. The lower roller assembly 322 and the upper roller assembly 323 move towards each other or away from each other synchronously with the two second sliding seats 3243, thereby separating from or pressing against the handrail rope 20.

[0065] In some embodiments, the lower roller assembly 322 includes a plurality of lower rollers 3221 for pressing against the lower side of the cable 10; the upper roller assembly 323 includes a plurality of upper rollers 3231 for pressing against the upper side of the cable 10, wherein, along the length direction of the frame 100, the lower rollers 3221 and the upper rollers 3231 are arranged alternately in sequence, and at least one of the lower rollers 3221 and the upper rollers 3231 is provided with a drive motor 3232.

[0066] Understandably, along the length of the frame 100, the lower roller 3221 and the upper roller 3231 are arranged alternately. With this arrangement, the lower roller 3221 and the upper roller 3231 can be tightly pressed against the upper and lower sides of the handrail rope 20. The lower roller 3221 and the upper roller 3231 have sufficient friction with the handrail rope 20. The drive motor 3232 can drive the lower roller 3221 or the upper roller 3231 to crawl along the handrail rope 20, so as to ensure that the cable maintenance robot can crawl normally along the handrail rope 20.

[0067] Furthermore, the lower roller assembly 322 includes two lower rollers 3221, and the upper roller assembly 323 includes one upper roller 3231. The lower rollers 3221 and the upper roller 3231 are staggered, and the upper roller 3231 is equipped with a drive motor 3232. With this configuration, the overall structure of the lower roller assembly 322 and the upper roller assembly 323 is simple, and they can be firmly pressed onto the handrail rope 20. Moreover, under the gravity of the cable maintenance robot, the upper roller 3231 is firmly pressed onto the handrail rope 20. The upper roller 3231 is equipped with a drive motor 3232. When the drive motor 3232 drives one upper roller 3231 to rotate, it can stably drive the cable maintenance robot to move along the handrail rope 20.

[0068] In some embodiments, the crawling device 300 further includes a third drive assembly (not shown in the figure), which is disposed on the frame 100. A first mounting base 310 is disposed on the third drive assembly, and the third drive assembly is used to drive the first mounting base 310 to slide along the length direction of the frame 100. The third drive assembly can be a motor screw structure or other drive structures. In specific applications, when the crawling device 300 encounters an obstacle, firstly, the second drive assembly 324 drives the lower roller assembly 322 and the upper roller assembly 323 to move away from each other, i.e., the lower roller assembly 322 moves downward and the upper roller assembly 323 moves upward. Then, the first drive assembly 330 drives the lower roller assembly 322 and the upper roller assembly 323 to move inward along the width direction of the frame 100 to avoid the obstacle. Simultaneously, the third drive assembly drives the upper roller assembly 323 and the lower roller assembly 322 to move forward over the obstacle. Finally, the first drive assembly 330 drives the lower roller assembly 322 and the upper roller assembly 323 to move outwards to above and below the handle rope 20, respectively. The second drive assembly 324 drives both the lower roller assembly 322 and the upper roller assembly 323 to move downwards to press against the handle rope 20. It is understood that the crawling device 300 can adjust its position back and forth when overcoming obstacles. Therefore, this crawling device 300 does not require the assistance of other crawling devices 300 to overcome obstacles, resulting in a simpler structure and lower manufacturing cost for the cable repair robot.

[0069] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A cable maintenance robot, characterized in that, include: Fuselage frame; Two support devices are respectively disposed at the front and rear ends of the frame. Each support device includes a roller mechanism and a first power component. The roller mechanism is rotatably disposed on the frame about the width of the frame. The first power component is disposed on the frame and is used to drive the roller mechanism to rotate. A crawling device is disposed on the fuselage frame and located between the two supporting devices. The crawling device includes a first mounting base, two crawling mechanisms, and a first driving assembly. The two crawling mechanisms are slidably disposed on the first mounting base along the width direction of the fuselage frame. The first driving assembly drives the two crawling mechanisms to slide along the width direction of the fuselage frame. The two crawling mechanisms are respectively disposed on the front and rear sides of the first mounting base, and are compactly assembled together. The two crawling mechanisms are staggered front to back, and do not interfere with each other in the left and right directions, ensuring that the two crawling mechanisms have a sufficiently large stroke in the left and right directions to avoid obstacles in front. The crawling mechanism includes: The second mounting bracket is connected to the first drive component; The lower roller assembly is slidably disposed on the second mounting base along the height direction of the machine frame; The upper roller assembly is slidably disposed on the second mounting base along the height direction of the machine frame; The second drive assembly is connected to the lower roller assembly and the upper roller assembly, and is used to drive the lower roller assembly and the upper roller assembly to move closer or further apart. The crawling device further includes a third drive assembly, which is disposed on the frame, and the first mounting base is disposed on the third drive assembly. The third drive assembly is used to drive the first mounting base to slide along the length direction of the frame. A cable maintenance device is installed on the fuselage frame and is used for cable maintenance.

2. The cable maintenance robot according to claim 1, characterized in that, The support device further includes a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is rotatably connected to the frame and the other end is rotatably connected to the roller mechanism, one end of the second connecting rod is rotatably connected to the frame and the other end is rotatably connected to the roller mechanism, and the first connecting rod and the second connecting rod are spaced apart in a preset plane, the preset plane being perpendicular to the rotation axis of the crawling mechanism.

3. The cable maintenance robot according to claim 1, characterized in that, The roller mechanism includes: The mounting base is rotatably mounted on the machine frame, and the first power component is used to drive the mounting base to rotate. A bidirectional adjusting screw is disposed on the mounting base along the width direction of the machine frame and is rotatably connected to the mounting base; The second power component is disposed on the mounting base and is used to drive the bidirectional adjusting screw to rotate; Two adjusting seats are slidably disposed on the mounting base along the width direction of the machine frame and are threadedly connected to the bidirectional adjusting screw; Two support wheel assemblies, one of which is connected to one of the adjustment seats, and the other of which is connected to the other of the adjustment seats.

4. The cable maintenance robot according to claim 1, characterized in that, The crawling device includes two first drive components. One first drive component is disposed on the front side of the first mounting base, and the crawling mechanism is located on the front side of the first mounting base and connected to the first drive component. The other first drive component is disposed on the rear side of the first mounting base, and the other crawling mechanism is located on the rear side of the first mounting base and connected to the first drive component. Alternatively, the first drive assembly includes a bidirectional lead screw, a first drive member, and two first sliding seats, wherein the bidirectional lead screw is rotatably mounted on the first mounting seat, the two first sliding seats are slidably mounted on the first mounting seat along the width direction of the frame, the first drive member is mounted on the first mounting seat and is used to drive the bidirectional lead screw to rotate, and the two crawling mechanisms are respectively connected to the first sliding seats.

5. A cable maintenance robot according to claim 1, characterized in that, The second driving component includes: A bidirectional transmission lead screw is disposed on the second mounting base along the height direction of the machine frame and is rotatably connected to the second mounting base; Two second sliding seats are slidably disposed on the second mounting base along the height direction of the fuselage frame; The second driving component is disposed on the second mounting base and is used to drive the bidirectional transmission screw to rotate.

6. A cable maintenance robot according to claim 1, characterized in that, The lower roller assembly includes several lower rollers for pressing against the lower side of the cable; the upper roller assembly includes several upper rollers for pressing against the upper side of the cable, wherein the lower rollers and the upper rollers are arranged alternately along the length of the frame, and at least one of the lower rollers and the upper rollers is provided with a drive motor.

7. A cable maintenance robot according to claim 6, characterized in that, The lower roller assembly includes two lower rollers, and the upper roller assembly includes one upper roller, the upper roller being equipped with a drive motor.

8. A cable maintenance robot according to claim 1, characterized in that, At least two crawling devices are provided, which are arranged sequentially along the length of the frame and located between the two support devices.

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