Cable inspection robot

Abstract

The invention discloses a cable inspection robot, and relates to the technical field of inspection robots. The device comprises a plurality of hinged frames, the hinged frames are movably connected through connectors, two mounting frames are symmetrically mounted on the hinged frames in a sliding mode, mechanical arm assemblies are mounted on the mounting frames, and manipulators are mounted on the mechanical arm assemblies and used for driving the hinged frames to move on a cable; the touch mechanism is installed on the hinge frame and acts on the installation frame, and when the touch mechanism is touched by the outside, the touch mechanism drives the installation frame to move in the direction away from the cable. According to the cable inspection device, the touch mechanism and the reset mechanism are matched with the mounting frame to automatically avoid contact between the shock-proof hammer and the manipulator in the continuous moving process of the multiple hinge frames, so that the cable inspection efficiency is improved, the operation complexity of workers is reduced, and the cable inspection device is more convenient to use.

Description

Technical Field

[0001] The present application relates to the technical field of inspection robots, and in particular to a cable inspection robot. Background Art

[0002] High-voltage power transmission is a common method of power transmission. Among them, the use of high-voltage and ultra-high-voltage overhead power transmission lines is the main form of long-distance power transmission and distribution. High-voltage cables and their accessories are exposed to the external environment for a long time, and are exposed to the wind and sun for many years. The materials are very easy to age and the cables are easy to break. At present, most of them still use manual inspection methods, which are labor-intensive, and it is difficult to ensure the safety of inspections in high-altitude, high-voltage, and high-risk working environments, which can easily cause workers to be electrocuted and fall from heights.

[0003] In order to solve the problems existing in the manual inspection method, the existing inspection is generally carried out by robots, such as drone inspection. However, the obstacle avoidance effect of drones during cable inspection is poor, and the movements during obstacle crossing are cumbersome. There is also a robot that moves on the cable for inspection. Compared with drone inspection, the advantage of this robot is that it can carry certain equipment, such as visual inspection and X-ray machine, and has better stability. However, when the existing cable mobile robot of this type encounters a shock-absorbing hammer on the cable, it will block the path of the cable mobile robot. The existing cable mobile robot is inconvenient when crossing obstacles.

[0004] Therefore, the present invention proposes a cable inspection robot. Summary of the invention

[0005] The purpose of this application is to solve the problems in the above-mentioned background technology, and this application provides a cable inspection robot.

[0006] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions: A cable inspection robot, comprising: An articulated frame, wherein the number of the articulated frames is multiple and the articulated frames are movably connected to each other through a connector, two mounting frames are symmetrically and slidably mounted on the articulated frame, a mechanical arm assembly is mounted on the mounting frame, and a manipulator is mounted on the mechanical arm assembly for driving the articulated frame to move on the cable; A trigger mechanism is installed on the articulated frame and acts on the mounting frame. When the trigger mechanism is triggered by the outside, the trigger mechanism drives the mounting frame to move in a direction away from the cable. The reset mechanism is installed on the articulated frame, and the mechanical arm assembly is located between the reset mechanism and the trigger mechanism. When the obstruction passes through the trigger mechanism and contacts the reset mechanism, the reset mechanism drives the mechanical arm assembly to move and reset, so that the mechanical arm contacts the cable again.

[0007] Furthermore, the trigger mechanism includes a toggle plate that is symmetrically and horizontally rotatably installed on the hinged frame, a torsion spring is installed between the hinged frame and the toggle plate, the free ends of the two toggle plates are in contact with each other and are in an outer arc shape, the toggle plate is located below the cable, and a linkage component that acts on the toggle plate and the mounting frame is installed on the hinged frame. When the toggle plate rotates, the two mounting frames are driven away from each other through the linkage component.

[0008] Furthermore, the linkage assembly includes two mounting tubes symmetrically and slidably mounted on the articulated frame, both mounting tubes are slidably inserted with a plug-in rod, and inclined surfaces are provided at opposite ends of the plug-in rod. Two strip frame plates are symmetrically and slidably mounted on the articulated frame, which are respectively used to contact the inclined surfaces of the plug-in rod, and a rod body is hinged between the strip frame plate and the toggle plate. A convex plate is constructed on one side of the plug-in rod located inside the mounting tube, a connecting spring is installed between the convex plate and the mounting tube, and a driving plate located outside is constructed on one side of the convex plate. A convex block for contacting the driving plate is installed on the mounting frame, and a tightening member is installed on the articulated frame. Under normal circumstances, the tightening member provides a resistance force toward the cable direction to the two mounting frames.

[0009] Furthermore, the reset mechanism includes a moving frame horizontally slidably installed on the articulated frame, a spring telescopic rod is installed between the moving frame and the articulated frame, a wedge rod is vertically slidably installed on the moving frame, which is used to contact an obstacle, a return spring is installed between the wedge rod and the moving frame, the return spring elastic force is greater than the elastic force provided by the spring telescopic rod, the mounting frame is located between the wedge rod and the toggle plate, and a transmission member acting on the mounting frame is installed on the articulated frame, and when the moving frame moves in a direction away from the corresponding mounting frame, the transmission member drives the mounting frame to move and reset.

[0010] Furthermore, the transmission member includes a push plate symmetrically slidably installed on the articulated frame, the push plate is opposite to the corresponding mounting frame, when the two manipulators are in a state of releasing the cables, the mounting frame is fitted with one side of the push plate, and a linkage rod is hinged between the push plate and the movable frame.

[0011] Furthermore, the clamping member includes a connecting frame symmetrically installed on the articulated frame, two articulated cylinders are symmetrically connected on the connecting frame, a driving rod is slidably inserted at the free end of the articulated cylinder, a rebound spring is installed between the driving rod and the articulated cylinder, the mounting frame is located between the two driving rods, the free end of the driving rod is hinged on the mounting frame, and a first baffle is constructed on the connecting frame, and the first baffle is used to limit the moving stroke of the mounting frame.

[0012] Furthermore, the manipulator includes a mounting frame plate installed at the mounting end of the manipulator arm assembly, an arc plate for contacting the cable is installed on the mounting frame plate, a plurality of rotating rollers are vertically and rotatably installed on the mounting frame plate, the outer peripheral side of the rotating roller passes through the arc plate and is located on the inner peripheral side of the arc plate, and is used to contact the cable, and synchronous wheels are installed on the plurality of rotating rollers, and the plurality of synchronous wheels are connected by a transmission belt.

[0013] Furthermore, a balancing block is installed at the middle position of the bottom of the articulated frame.

[0014] Furthermore, the mechanical arm assembly includes a rotating seat rotatably mounted on a mounting frame, a mechanical lower arm rotatably mounted on the rotating seat, a mechanical upper arm rotatably mounted on the mechanical lower arm, the mechanical upper arm is connected to the mounting frame plate, a mounting plate is mounted on the mechanical upper arm, a support roller located above the cable is rotatably mounted on the mounting plate, and the free end of the support roller is an outer arc surface.

[0015] Furthermore, the connector includes a connecting shell with a hollow interior, a knob is installed on the connecting shell for rotation through a torsion spring, two hinged rods are hinged on the knob, the free ends of the two hinged rods are hinged with sliding plates, the sliding plates are horizontally slidably installed on the connecting shell, two transmission rods are symmetrically hinged on the sliding plate, the free ends of the transmission rods are hinged with positioning rods, the positioning rods are vertically slidably installed in the connecting shell, and two positioning holes distributed up and down are provided on the hinged frame for inserting the positioning rods.

[0016] The beneficial effects of this application are as follows: Through the cooperation of the trigger mechanism, the reset mechanism and the installation frame, the present application automatically avoids the contact between the shock-absorbing hammer and the manipulator during the continuous movement of multiple articulated frames, thereby improving the efficiency of cable inspection, reducing the tediousness of operation for staff, and making it more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural view of this application; Figure 2 It is a diagram showing the structure after the combination of this application; Figure 3 This application Figure 1 Partial stereoscopic cutaway view; Figure 4 This application Figure 1 Another partial three-dimensional cutaway view; Figure 5 It is an exploded view of some structures of this application; Figure 6 This is another exploded view of the structure of this application; Figure 7 This application Figure 1 Another partial three-dimensional cutaway view; Reference numerals: 1, articulated frame; 2, connector; 201, connecting shell; 202, knob; 203, articulated rod; 204, sliding plate; 205, transmission rod; 206, positioning rod; 207, positioning hole; 3, mounting frame; 4, mechanical arm assembly; 401, rotating seat; 402, mechanical lower arm; 403, mechanical upper arm; 404, mounting plate; 405, supporting roller; 5, mechanical hand; 501, mounting frame plate; 502, arc plate; 503, rotating roller; 504, synchronous wheel; 505, transmission belt; 6, trigger mechanism; 601, toggle plate; 602, torsion spring; 6 03. linkage assembly; 6031. mounting tube; 6032. plug-in rod; 6033. convex plate; 6034. strip frame plate; 6035. drive plate; 6036. convex block; 6037. connecting spring; 6038. rod body; 7. reset mechanism; 701. moving frame; 702. spring telescopic rod; 703. wedge rod; 704. return spring; 705. transmission member; 7051. push plate; 7052. linkage rod; 8. tightening member; 801. connecting frame; 802. articulated tube; 803. drive rod; 804. rebound spring; 805. first baffle; 9. balance block. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0019] like Figure 1-Figure 7 As shown, a cable inspection robot proposed in one embodiment of the present application includes: An articulated frame 1, wherein the number of the articulated frames 1 is multiple and they are movably connected via a connector 2, two mounting frames 3 are symmetrically and slidably mounted on the articulated frame 1, a mechanical arm assembly 4 is mounted on the mounting frame 3, and a manipulator 5 is mounted on the mechanical arm assembly 4, which is used to drive the articulated frame 1 to move on the cable; The trigger mechanism 6 is installed on the articulated frame 1 and acts on the mounting frame 3. When the trigger mechanism 6 is triggered by the outside, the trigger mechanism 6 drives the mounting frame 3 to move in a direction away from the cable. The reset mechanism 7 is installed on the articulated frame 1, and the mechanical arm assembly 4 is located between the reset mechanism 7 and the trigger mechanism 6. When the obstruction passes through the trigger mechanism 6 and contacts the reset mechanism 7, the reset mechanism 7 drives the mechanical arm assembly 4 to move and reset, that is, the mounting frame 3 moves and resets to form a contact between the mechanical hand 5 and the cable again. That is, when in use, multiple articulated frames 1 can be connected through the connector 2. The number of articulated frames 1 can be more than three, and it has good stability. Then, the mechanical arm assembly 4 is used to make the mechanical hand 5 contact with the cable, so that the mechanical hand 5 is driven by remote control to move the articulated frame 1 on the cable. When multiple articulated frames are moving on the cable, when encountering a shock-absorbing hammer, the articulated frame 1 continues to move to make the trigger mechanism 6 When the shock-absorbing hammer contacts the two mounting frames 3, the triggering mechanism 6 drives the two mounting frames 3 to move away from each other, thereby causing the mechanical arm assemblies 4 to move away from each other. At this time, the mechanical arms 5 on other articulated frames 1 are still in contact with the cable, so the entire device will not fall off the cable. As the other articulated frames 1 continue to move, the shock-absorbing hammer will gradually pass between the moved mechanical arms 5. After the shock-absorbing hammer passes through the mechanical arms 5, it will then contact the reset mechanism 7, and then the reset mechanism 7 will move and reset the mechanical arm assembly 4, thereby causing the mechanical arm 5 to contact the cable again, thereby automatically avoiding contact between the shock-absorbing hammer and the mechanical arm 5 during the continuous movement of multiple articulated frames 1, thereby improving the efficiency of cable inspection, reducing the tediousness of operation for staff, and making it more convenient to use.

[0020] like Figure 3 and Figure 5 As shown, in some embodiments, the trigger mechanism 6 includes a toggle plate 601 symmetrically and horizontally rotatably mounted on the articulated frame 1, a torsion spring 602 is installed between the articulated frame 1 and the toggle plate 601, specifically, a convex rod is vertically structured on the articulated frame 1, the toggle plate 601 is rotatably sleeved on the convex rod, the torsion spring 602 is sleeved on the convex rod, one end of the torsion spring 602 is connected to the convex rod, and the other end is connected to the toggle plate 601, the free ends of the two toggle plates 601 are fitted to each other and are in an outer arc shape, the toggle plate 601 is located below the cable, and a linkage assembly 603 acting on the toggle plate 601 and the mounting frame 3 is installed on the articulated frame 1, when the toggle plate 601 is rotated When the articulated frame 1 moves, the linkage assembly 603 is used to drive the two mounting frames 3 away from each other. That is to say, when the articulated frame 1 moves, the two toggle plates 601 will first contact the shock-absorbing hammer. As the articulated frame 1 continues to move, the toggle plates 601 will rotate due to contact with the shock-absorbing hammer. When the toggle plates 601 rotate, the linkage assembly 603 will drive the mounting frame plate 501 to move, so that the two mounting frame plates 501 are moved away from each other. As the articulated frame 1 moves, the manipulator 5 on the articulated frame 1 will avoid contact with the shock-absorbing hammer, thereby effectively preventing the shock-absorbing hammer from contacting the manipulator 5, and will not affect the movement of the articulated frame 1.

[0021] like Figure 3 and Figure 5 As shown, in some embodiments, the linkage assembly 603 includes two mounting tubes 6031 symmetrically slidably mounted on the articulated frame 1, and the two mounting tubes 6031 are both penetrated by a plug rod 6032 for sliding insertion, and the opposite ends of the plug rod 6032 are provided with inclined surfaces, and two strip frame plates 6034 are symmetrically slidably mounted on the articulated frame 1, which are respectively used to contact the inclined surfaces of the plug rod 6032, and a rod body 6038 is hinged between the strip frame plate 6034 and the toggle plate 601, and the plug rod 6032 is located in the mounting tube. A convex plate 6033 is constructed on one side of the interior of 6031, a connecting spring 6037 is installed between the convex plate 6033 and the mounting tube 6031, a driving plate 6035 located outside is constructed on one side of the convex plate 6033, a convex block 6036 for contacting the driving plate 6035 is installed on the mounting frame 3, and a fastening member 8 is installed on the articulated frame 1. In normal state, the fastening member 8 provides a resisting force toward the cable direction to the two mounting frames 3, that is, when the manipulator 5 contacts the cable, the fastening member 8 effectively To prevent the manipulator 5 from accidentally detaching from the cable when the connecting frame 801 moves, when the toggle plate 601 rotates due to contact with the shock-absorbing hammer, the rotation of the toggle plate 601 will drive the bar frame plate 6034 to move through the rod body 6038, and the bar frame plate 6034 will contact the inclined surface of the plug rod 6032, so that the plug rod 6032 moves, and the plug rod 6032 will drive the drive plate 6035 to move when moving, and the movement of the drive plate 6035 will push the bump 6036 to move, so that The installation frame 3 is moved, and as the toggle plate 601 rotates, the strip frame plate 6034 will continue to move. However, at this time, the end of the connecting rod 6032 with the inclined surface will move to one side in the length direction of the strip frame plate 6034, so that even if the toggle plate 601 continues to rotate, the connecting rod 6032 will not continue to move. Therefore, when the toggle plate 601 is driven to rotate by shock-absorbing hammers of different sizes, the moving distance of the connecting rod 6032 is fixed, preventing the installation frame plate 501 from moving too far and affecting the subsequent resetting.

[0022] like Figure 1 , Figure 3 and Figure 5As shown, in some embodiments, the reset mechanism 7 includes a moving frame 701 horizontally slidably mounted on the articulated frame 1, a spring telescopic rod 702 is installed between the moving frame 701 and the articulated frame 1, a wedge rod 703 is vertically slidably mounted on the moving frame 701, which is used to contact with obstacles, a return spring 704 is installed between the wedge rod 703 and the moving frame 701, the elastic force of the return spring 704 is greater than the elastic force provided by the spring telescopic rod 702, the mounting frame 3 is located between the wedge rod 703 and the toggle plate 601, and a transmission member 705 acting on the mounting frame 3 is installed on the articulated frame 1. When the moving frame 701 moves in a direction away from the corresponding mounting frame 3, the transmission member 705 drives the mounting frame 3 to move and reset. When the shock-absorbing hammer passes through the toggle plate 601 and the corresponding manipulator 5, the shock-absorbing The hammer will come into contact with the wedge rod 703, and as the articulated frame 1 continues to move, because the elastic force of the return spring 704 is greater than the elastic force of the spring telescopic rod 702, the internal spring of the spring telescopic rod 702 will be stretched, so the movable frame 701 will move at this time, while the wedge rod 703 has not moved at this time. At this time, the movable frame 701 will move away from the corresponding mounting frame 3 due to the movement of the shock-absorbing hammer, so that the transmission member 705 can drive the mounting frame 3 to move and reset, thereby causing the manipulator 5 to move and reset. After the movable frame 701 moves to the maximum limit, the continued movement of the articulated frame 1 will force the wedge rod 703 to move downward until the shock-absorbing hammer passes through the wedge rod 703, thereby automatically resetting the manipulator 5. No additional operation is required and the continued movement of the articulated frame 1 is not affected.

[0023] like Figure 1 and Figure 4 As shown, in some embodiments, the transmission member 705 includes a push plate 7051 symmetrically and slidably installed on the articulated frame 1, and the push plate 7051 is opposite to the corresponding mounting frame 3. When the two manipulators 5 are in a state of releasing the cables, the mounting frame 3 is in contact with one side of the push plate 7051, and a linkage rod 7052 is hinged between the push plate 7051 and the movable frame 701. That is to say, when the movable frame 701 moves, the plate 7051 is pushed to move through the linkage rod 7052, so that the two push plates 7051 on the articulated frame 1 are close to each other, thereby simultaneously pushing the two moved mounting frames 3, so that the two manipulators 5 are reset at the same time, and then the reset is completed, thereby simultaneously driving the two manipulators 5 to move and reset.

[0024] like Figure 1-Figure 6As shown, in some embodiments, the fastening member 8 includes a connecting frame 801 symmetrically mounted on the articulated frame 1, two articulated cylinders 802 are symmetrically connected on the connecting frame 801, a driving rod 803 is slidably inserted at the free end of the articulated cylinder 802, a rebound spring 804 is installed between the driving rod 803 and the articulated cylinder 802, the mounting frame 3 is located between the two driving rods 803, the free end of the driving rod 803 is hinged on the mounting frame 3, a first baffle 805 is constructed on the connecting frame 801, the first baffle 805 is used to limit the moving stroke of the mounting frame 3, and under normal conditions, the rebound spring 804 is in a compressed state, and at this time the articulated cylinder 802 and the mounting frame 3 are in a state of contact with each other. The mounting frame plates 501 are nearly parallel, so the plug-in rod 6032 only needs to move a certain distance slightly to cause the articulated tube 802 to rotate slightly, and the return spring inside the articulated tube 802 will continue to be compressed to a certain extent, and then the return spring will suddenly release the elastic force, and then the mounting frame plates 501 will move away from each other a small distance and then suddenly move quickly, so that the mounting frame plates 501 can move a small distance and then suddenly move a large distance, so that when the toggle plate 601 rotates a small distance, the mounting frame plates 501 will move a large distance, thereby ensuring that the articulated frame 1 can effectively prevent the shock-absorbing hammer from contacting the manipulator 5 when it continues to move.

[0025] like Figure 1-Figure 3 As shown, in some embodiments, the manipulator 5 includes a mounting frame plate 501 mounted on the mounting end of the manipulator arm assembly 4, and an arc plate 502 for contacting the cable is mounted on the mounting frame plate 501. A plurality of rotating rollers 503 are vertically and rotatably mounted on the mounting frame plate 501, and the outer peripheral side of the rotating roller 503 passes through the arc plate 502 and is located on the inner peripheral side of the arc plate 502, and is used to contact the cable. Synchronous wheels 504 are mounted on the plurality of rotating rollers 503, and the plurality of synchronous wheels 504 are connected by a transmission belt 505. Only one of the rotating rollers 503 needs to be remotely controlled to rotate. When one of the rotating rollers 503 rotates, the plurality of synchronous wheels 504 will be driven to rotate simultaneously through the plurality of transmission belts 505, thereby driving the plurality of rotating rollers 503 to rotate. Because the rotating roller 503 is in contact with the cable, the rotation of the rotating roller 503 will drive the movement of the articulated frame 1. Specifically, a motor is mounted on the mounting frame plate 501, and the motor is connected to one of the rotating rollers 503. The staff remotely controls the motor to start.

[0026] like Figure 3 As shown, in some embodiments, a balancing block 9 is installed at the middle position of the bottom of the articulated frame 1. The setting of the balancing block 9 can effectively prevent the articulated frame 1 from shaking in windy weather, thereby improving the overall stability.

[0027] like Figure 1 and Figure 3As shown, in some embodiments, the robot arm assembly 4 includes a rotating seat 401 rotatably mounted on the mounting frame 3, a mechanical lower arm 402 rotatably mounted on the rotating seat 401, a mechanical upper arm 403 rotatably mounted on the mechanical lower arm 402, the mechanical upper arm 403 is connected to the mounting frame plate 501, the mechanical upper arm 403 is mounted with a mounting plate 404, a support roller 405 located above the cable is rotatably mounted on the mounting plate 404, the free end of the support roller 405 is an outer arc surface, and the design of the support roller 405 increases the contact area with the cable, further improving the stability. Moreover, when the robot arm assemblies 4 are reset close to each other, the outer arc surface of the support roller 405 can effectively move to the bottom of the cable again to provide support.

[0028] like Figure 1 and Figure 6 As shown, in some embodiments, the connector 2 includes a connection shell 201 with a hollow interior, a knob 202 is rotatably mounted on the connection shell 201 through a torsion spring, two hinged rods 203 are hinged on the knob 202, and the free ends of the two hinged rods 203 are hinged with a sliding plate 204, the sliding plate 204 is horizontally slidably mounted on the connection shell 201, two transmission rods 205 are symmetrically hinged on the sliding plate 204, the free ends of the transmission rods 205 are hinged with a positioning rod 206, and the positioning rod 206 is vertically slidably mounted in the connection shell 201, and the articulated frame 1 is provided with two upper and lower divided The positioning holes 207 of the cloth are used for inserting the positioning rods 206. A plurality of connectors 2 cooperate with a plurality of articulated frames 1 to form a snake-like mimicking robot. When one of the connecting frames 801 is damaged, the knob 202 can be turned. When the knob 202 is turned, the two sliding plates 204 are driven to approach each other through the articulated rod 203. As the sliding plates 204 move, the transmission rod 205 drives the two positioning rods 206 in the same direction to approach each other, so that the positioning rods 206 are quickly disengaged from the positioning holes 207, thereby realizing a quick replacement of one of the connecting frames 801.

[0029] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cable inspection robot, characterized in that: include: An articulated frame (1), wherein the articulated frames (1) are multiple in number and are movably connected to each other via a connector (2), two mounting frames (3) are symmetrically and slidably mounted on the articulated frame (1), a mechanical arm assembly (4) is mounted on the mounting frame (3), and a mechanical arm (5) is mounted on the mechanical arm assembly (4) for driving the articulated frame (1) to move on the cable; A trigger mechanism (6) is mounted on the hinged frame (1) and acts on the mounting frame (3); when the trigger mechanism (6) is triggered by external factors, the trigger mechanism (6) drives the mounting frame (3) to move in a direction away from the cable; The reset mechanism (7) is mounted on the articulated frame (1), and the mechanical arm assembly (4) is located between the reset mechanism (7) and the trigger mechanism (6). When the obstruction passes through the trigger mechanism (6) and contacts the reset mechanism (7), the reset mechanism (7) drives the mechanical arm assembly (4) to move and reset, so that the mechanical hand (5) contacts the cable again.

2. A cable inspection robot according to claim 1, characterized in that: The trigger mechanism (6) comprises a toggle plate (601) symmetrically and horizontally rotatably mounted on the hinged frame (1); a torsion spring (602) is mounted between the hinged frame (1) and the toggle plate (601); the free ends of the two toggle plates (601) are in contact with each other and are in an outer arc shape; the toggle plate (601) is located below the cable; a linkage assembly (603) acting on the toggle plate (601) and the mounting frame (3) is mounted on the hinged frame (1); when the toggle plate (601) rotates, the linkage assembly (603) is used to drive the two mounting frames (3) to move away from each other.

3. A cable inspection robot according to claim 2, characterized in that: The linkage assembly (603) comprises two mounting tubes (6031) symmetrically slidably mounted on the hinged frame (1), and the two mounting tubes (6031) are both penetrated by a plug-in rod (6032) for sliding insertion, and the plug-in rod (6032) has inclined surfaces at opposite ends, and two strip frame plates (6034) are symmetrically slidably mounted on the hinged frame (1), which are respectively used to contact the inclined surfaces of the plug-in rod (6032), and a rod body (6038) is hinged between the strip frame plate (6034) and the toggle plate (601), and the plug-in rod (6032) is located at a position A convex plate (6033) is constructed on one side inside the mounting tube (6031), a connecting spring (6037) is installed between the convex plate (6033) and the mounting tube (6031), a driving plate (6035) located outside is constructed on one side of the convex plate (6033), a convex block (6036) for contacting the driving plate (6035) is installed on the mounting frame (3), and a fastening member (8) is installed on the hinged frame (1), and in a normal state, the fastening member (8) provides a resisting force toward the cable direction to the two mounting frames (3).

4. A cable inspection robot according to claim 3, characterized in that: The reset mechanism (7) comprises a moving frame (701) mounted horizontally and slidably on the articulated frame (1); a spring telescopic rod (702) is mounted between the moving frame (701) and the articulated frame (1); a wedge-shaped rod (703) is mounted vertically and slidably on the moving frame (701) for contacting an obstacle; a return spring (704) is mounted between the wedge-shaped rod (703) and the moving frame (701); the return spring (704) has an elastic force greater than the elastic force provided by the spring telescopic rod (702); the mounting frame (3) is located between the wedge-shaped rod (703) and the toggle plate (601); a transmission member (705) acting on the mounting frame (3) is mounted on the articulated frame (1); when the moving frame (701) moves in a direction away from the corresponding mounting frame (3), the transmission member (705) drives the mounting frame (3) to move and reset.

5. A cable inspection robot according to claim 4, characterized in that: The transmission member (705) comprises a push plate (7051) symmetrically slidably mounted on the hinged frame (1), the push plate (7051) being opposite to the corresponding mounting frame (3), and when the two manipulators (5) are in a state of releasing the cables, the mounting frame (3) is in contact with one side of the push plate (7051), and a linkage rod (7052) is hinged between the push plate (7051) and the movable frame (701).

6. A cable inspection robot according to claim 5, characterized in that: The abutting member (8) comprises a connecting frame (801) symmetrically mounted on the hinged frame (1); two hinged cylinders (802) are symmetrically connected to the connecting frame (801); a driving rod (803) is slidably inserted into the free end of the hinged cylinder (802); a rebound spring (804) is installed between the driving rod (803) and the hinged cylinder (802); the mounting frame (3) is located between the two driving rods (803); the free end of the driving rod (803) is hinged to the mounting frame (3); and a first baffle (805) is constructed on the connecting frame (801); the first baffle (805) is used to limit the movement stroke of the mounting frame (3).

7. A cable inspection robot according to claim 6, characterized in that: The manipulator (5) comprises a mounting frame plate (501) mounted on the mounting end of the manipulator assembly (4); an arc plate (502) for contacting the cable is mounted on the mounting frame plate (501); a plurality of rotating rollers (503) are vertically and rotatably mounted on the mounting frame plate (501); the outer peripheral side of the rotating roller (503) passes through the arc plate (502) and is located on the inner peripheral side of the arc plate (502), and is used to contact the cable; a plurality of rotating rollers (503) are each mounted with a synchronous wheel (504); and the plurality of synchronous wheels (504) are connected via a transmission belt (505).

8. The cable inspection robot according to claim 1, characterized in that: A balancing block (9) is installed at the middle of the bottom of the articulated frame (1).

9. The cable inspection robot according to claim 1, characterized in that: The mechanical arm assembly (4) comprises a rotating seat (401) rotatably mounted on a mounting frame (3); a mechanical lower arm (402) rotatably mounted on the rotating seat (401); a mechanical upper arm (403) rotatably mounted on the mechanical lower arm (402); the mechanical upper arm (403) is connected to a mounting frame plate (501); a mounting plate (404) is mounted on the mechanical upper arm (403); a support roller (405) located above the cable is rotatably mounted on the mounting plate (404); and the free end of the support roller (405) is an outer arc surface.

10. The cable inspection robot according to claim 1, characterized in that: The connector (2) comprises a connection shell (201) with a hollow interior, a knob (202) being rotatably mounted on the connection shell (201) via a torsion spring, two hinged rods (203) being hinged on the knob (202), a sliding plate (204) being hinged at the free ends of the two hinged rods (203), the sliding plate (204) being horizontally slidably mounted on the connection shell (201), two transmission rods (205) being symmetrically hinged on the sliding plate (204), a positioning rod (206) being hinged at the free ends of the transmission rods (205), the positioning rod (206) being vertically slidably mounted in the connection shell (201), and two positioning holes (207) being distributed vertically on the hinged frame (1) for inserting the positioning rods (206).

Images