Cable climbing robot capable of automatically adjusting clamping force

Abstract

The invention relates to a cable climbing robot with an automatic clamping force adjusting function. The cable climbing robot is used for climbing and detecting stay cables such as suspension bridges and cable-stayed cables. Comprising a driving device, a driven device, a sliding rail device, a clamping force adjusting device and an electronic control device. The driving device and the driven device are located on the two sides of the inhaul cable respectively and distributed oppositely to clamp the inhaul cable. The two ends of the sliding rail device and the two ends of the clamping force adjusting device are connected with a driving device and a driven device of the robot respectively, and the sliding rail device is used for preventing dislocation between the driving device and the driven device of the robot and allowing the driving device and the driven device to move along the sliding rail so as to adapt to clamping of inhaul cables with different diameters. The clamping force adjusting device comprises a buffering device, a tension measuring device and a tension adjusting device, and the clamping force adjusting device is matched with the electronic control device, so that the robot can automatically adjust the clamping force of the inhaul cable. According to the technical scheme, the device is simple in structure, convenient to disassemble and assemble and capable of achieving effective crawling on inhaul cables with different diameters and automatic adjustment of clamping force.

Description

Technical Field

[0001] The invention relates to a cable-climbing robot with automatic clamping force adjustment, in particular to a cable-climbing robot used for bridge cable detection, belonging to the technical field of robots. Background Art

[0002] In my country, there are many suspension bridges and cable-stayed bridges. The cables of these bridges are key load-bearing components. The inside is a steel wire bundle formed by a large number of twisted steel wires, and the outside is generally wrapped with a polyethylene protective cover. The cables are exposed to the external environment for a long time, and are affected by natural factors such as wind, sun, and rain, which causes the outer protective cover of the cables to age and cause pitting, holes, pits, cracks and other damages. The cables need to be inspected and maintained regularly to prevent the external environment from further corroding the steel wire bundle inside the cables, causing steel wire breakage and causing major safety accidents, so as to ensure the safety of the bridge and extend the service life of the cables.

[0003] At present, the main means of bridge inspection include telescope observation, manual hanging basket inspection and inspection using climbing wire robots. The telescope observation method has great limitations due to its limited accuracy and difficulty in covering all areas; although the manual hanging basket method can achieve close-range inspection, this method requires the use of aerial work equipment, which is not only expensive and time-consuming, but also has high safety risks for workers. In contrast, the climbing wire robot has the advantages of short observation distance, safety of on-site personnel, and simple inspection operation, which can effectively solve various problems in cable inspection. However, due to the different sizes of various bridges, the parameters such as the diameter and length of the cables used are different, and the existing climbing wire robots are generally complex in structure, heavy in weight, and inconvenient to install. During the working process, it is difficult to overcome obstacles. At present, there is an urgent need for a climbing wire robot that can adapt to cables of different sizes, is lightweight, simple in structure, easy to install, and simple to operate, so as to improve the efficiency of bridge cable inspection, improve the inspection quality, and reduce the labor intensity of inspection personnel.

[0004] In view of the above, this case arises. Summary of the invention

[0005] The object of the present invention is to provide a cable-climbing robot which has a simple structure, is light in weight, is easy to install, can meet the crawling requirements of different bridge cables, and can automatically adjust the clamping force of the cables according to changes in cable diameters.

[0006] To achieve the above objectives, the solution of the present invention is a rope-climbing robot with automatic clamping force adjustment, including a driving device, a driven device, a slide rail device, a clamping force adjustment device, and an electronic control device (not described in detail in the present invention).

[0007] The driving device comprises a driving end support plate, a driving end housing, a bearing seat, a driving end crawler wheel device, a belt, a tensioning mechanism, a driving pulley, a motor bracket, and a driving motor; the driving end crawler wheel device consists of a driving shaft, a wheel hub, a crawler wheel, and a pulley. The crawler wheel is fixed to the driving shaft through the wheel hub. Both ends of the driving shaft are installed on the inner side of the driving end support plate through the bearing seat. The pulley is installed at one end of the driving shaft. The two driving end crawler wheel devices are spaced a certain distance apart; the tensioning mechanism consists of an adjusting bolt, an adjusting bracket, a tensioning wheel, and a fixing bracket. The tensioning wheel is installed on the fixing bracket through the adjusting bracket. By adjusting the adjusting bolts on the driving end support plate, the adjusting bracket and the fixed bracket can be moved, driving the tensioning wheel to move and realizing the tensioning of the belt. The tensioning mechanism is installed on the inner side of the driving end support plate through the fixed bracket; the driving motor is installed on the outer side of the driving end support plate through the motor bracket, and its output shaft is equipped with a driving pulley. A belt is installed between the driving pulley on the motor, the pulleys of the two driving end crawling wheel devices and the tensioning wheel for transmitting power to drive the driving end crawling wheel device of the robot to rotate; the driving end housing is installed on the outer side of the driving end support plate to protect the driving motor.

[0008] The driven device includes a driven end support plate, a driven end housing, a bearing seat, and a driven end crawler wheel device; the driven end crawler wheel device is composed of a driven shaft, a wheel hub, and a crawler wheel. The crawler wheel is installed on the driven shaft through the wheel hub. The two ends of the driven shaft are installed on the inner side of the driven end support plate through the bearing seat. The two driven end crawler wheel devices are spaced a certain distance apart; the driven end housing is installed on the outer side of the driven end support plate to protect the electronic control device.

[0009] The slide rail device includes an L-connecting block, a slider, a slider bracket, and a slide rail; the slider bracket is installed on the driven end support plate through the L-connecting block, and the slider is installed on the slider bracket; the slide rail is installed on the driving end support plate through the L-connecting block; the slider and the slide rail are installed together and can slide along the direction of the slide rail. The device is used to connect the driving device and the driven device of the rope climbing robot together, so that the relative distance between the driving device and the driven device of the robot can be changed along the direction of the slide rail to adapt to the clamping of cables with different diameters.

[0010] The clamping force adjustment device includes a buffer device, a tension measuring device, and a tension adjustment device. The buffer device is composed of a pull rod, a spring, and a buffer seat. The buffer seat is installed on the driving end support plate, and the spring is installed on the pull rod. One end of the pull rod passes through the hole of the buffer seat. The spring is fixed between the pull rod and the buffer seat through the pull rod and the buffer seat. When the distance between the pull rod and the buffer seat changes, the spring will be compressed or moved under the action of the spring tension. The tension measuring device is composed of a shell, a tension sensor, a base plate, and a hook. The shell is installed on the thread of the pull rod of the buffer device, and the tension sensor is installed between the shell and the base plate. The shell, the tension sensor, and the base plate are fixed together by bolts. The hook is installed in the middle of the tension sensor through the thread thereon. When the hook is subjected to tension, the tension sensor will be subjected to tension and pull the pull rod of the buffer device relative to the buffer seat through the shell of the tension measuring device, thereby compressing or releasing the spring. The tension adjustment device is composed of a wire cover, a winding wheel, a motor bracket, a motor, and a wire rope. The motor is installed on the driven end support plate through the motor bracket, and a winding wheel is installed on the motor shaft The wire cover covers the winding wheel and is fixed to the driven end support plate by bolts to prevent the wire rope on the winding wheel from escaping from the groove of the winding wheel. One end of the wire rope is fixed to the winding wheel and wound around the winding wheel. When the motor rotates, it will drive the winding wheel to rotate and change the length of the wire rope in the winding wheel groove; the other end of the wire rope is equipped with a lock buckle, and the lock buckle of the wire rope is connected to the hook of the tension measuring device. When the motor rotates, the tension measuring device can be pulled by the wire rope, and then the pull rod of the buffer device can be pulled, and the tension sensor can be used to realize The tensioning force is measured to realize the control of the clamping force of the cable by the cable-climbing robot. When the diameter of the cable changes, the clamping force is adjusted by the spring of the buffer device, and the change of the tension is detected by the tension sensor, and then judged and processed by the electronic control device. When the tension exceeds the preset maximum tension, the motor is controlled to reverse (assuming that forward rotation is tensioning) to reduce the tension. When the tension is less than the preset minimum tension, the motor is controlled to rotate forward (assuming that forward rotation is tensioning) to increase the tension, thereby realizing automatic adjustment of the clamping force of the robot.

[0011] The electronic control device is installed on the outside of the driven end support plate and is not described in detail in the present invention. It is used to control the measurement of the tension of each tension sensor of the robot, the operation of the motor of the tension adjustment device and the drive motor, to achieve the adjustment of the clamping force of the robot and the speed and steering control of the robot drive motor, to achieve the adjustment of the robot's crawling speed and the change of the crawling direction.

[0012] Furthermore, the clamping force adjustment device can measure the magnitude of the tension thereon through a tension sensor, and the electronic control device can control the tension adjustment device to automatically adjust the tension between the robot driving device and the driven device according to the measured tension value. The sum of the tensions is the clamping force of the robot on the cable.

[0013] Furthermore, the spring of the clamping force adjustment device provides a pulling force between the robot driving device and the driven device, provides a clamping force for the robot to the cable, and acts as a buffer spring to increase the robot's adaptability to changes in cable diameter.

[0014] Furthermore, the robot crawling wheel can change its structural shape according to the actual structure of the cable to adapt to the situation where there are light strips and other additional devices on the cable.

[0015] Furthermore, the steel wire rope can be replaced by other ropes according to actual needs.

[0016] Furthermore, the tension sensor may be a tension sensor in other forms or may be used to indirectly measure the tension through displacement measurement to achieve tension measurement.

[0017] After adopting the above scheme, the gain effect of the present invention is:

[0018] 1. Compared with the existing rope-climbing robots, the present invention has the advantages of simple mechanical structure, small size, light weight, etc. It is easy to install and operate in field use, and effectively reduces the labor intensity of workers.

[0019] 2. The present invention is equipped with a clamping force adjustment device, which can automatically adjust the tension to the required tensioning force through the electronic control device. When the cable diameter changes, the tension will change due to the elongation and compression of the spring. Through the detection of the tension sensor, the electronic control device can control the working state of the tension adjustment device to adapt to crawling with different cable diameter changes, solving the problem that the cable climbing robot cannot crawl when the cable diameter changes greatly.

[0020] 3. The present invention is equipped with a clamping force adjustment device, which can automatically adjust the clamping force of the robot on the cable to the required level when the robot is installed on the cable, thereby simplifying the operation of manually adjusting the clamping force through bolts during manual installation.

[0021] 4. The present invention adopts a slide rail device between the driving device and the driven device, which can effectively prevent the robot driving device and the driven device from being misaligned, causing the pulling force to suddenly increase or decrease.

[0022] 5. The clamping force adjustment device of the present invention connects the driving device and the driven device of the robot through a steel wire rope. The lock buckle of the steel wire rope of the tension adjustment device and the hook of the tension measurement device can be quickly connected and disassembled, which simplifies the installation and disassembly process of the robot on the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the mechanical structure of the present invention, bolts used to connect various components in some assemblies are omitted in the drawings.

[0024] Figure 1 It is a partial cross-sectional schematic diagram of a front view of an embodiment of the present invention.

[0025] Figure 2 It is a top partial cross-sectional schematic diagram of an embodiment of the present invention.

[0026] Figure 3 This is a three-dimensional schematic diagram of a driving device according to an embodiment of the present invention without a driving end housing.

[0027] Figure 4 This is a schematic diagram of a driving end crawler wheel device according to an embodiment of the present invention.

[0028] Figure 5 It is an exploded schematic diagram of a tensioning mechanism according to an embodiment of the present invention.

[0029] Figure 6 The figure is a three-dimensional schematic diagram of a driven device according to an embodiment of the present invention without a driven end housing.

[0030] Figure 7 This is a schematic diagram of a driven end crawler wheel device according to an embodiment of the present invention.

[0031] Figure 8 It is a three-dimensional schematic diagram of a slide rail device according to an embodiment of the present invention.

[0032] Fig. 9 It is a three-dimensional schematic diagram of a clamping force adjustment device according to an embodiment of the present invention.

[0033] Fig.10 It is an exploded schematic diagram of a buffer device and a tension measurement device according to an embodiment of the present invention.

[0034] Fig.11 It is an exploded schematic diagram of a tension adjustment device according to an embodiment of the present invention.

[0035] In the figure: driving device 1; driven device 2; slide rail device 3; clamping force adjustment device 4; electronic control device 5; driving end support plate 1-1; driving end housing 1-2; bearing seat 1-3; driving end crawling wheel device 1-4; belt 1-5; tensioning mechanism 1-6; driving pulley 1-7; motor bracket 1-8; driving motor 1-9; driving shaft 1-4-1; wheel hub 1-4-2; crawling wheel 1-4-3; pulley 1-4-4; adjusting bolt 1-6-1; adjusting bracket 1-6-2; tensioning wheel 1-6-3; fixing bracket 1-6-4; driven end support plate 2-1; driven end housing 2-2 ; bearing seat 2-3; driven end crawling wheel device 2-4; driven shaft 2-4-1; wheel hub 2-4-2; crawling wheel 2-4-3; L connecting block 3-1; slider 3-2; slider bracket 3-3; slide rail 3-4; buffer device 4-1; tension measuring device 4-2; tension adjusting device 4-3; pull rod 4-1-1; spring 4-1-2; buffer seat 4-1-3; housing 4-2-1; tension sensor 4-2-2; bottom plate 4-2-3; draw hook 4-2-4; wire cover 4-3-1; winding wheel 4-3-2; motor bracket 4-3-3; motor 4-3-4; wire rope 4-3-5. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] As attached Figure 1 and 2 As shown, the present invention provides a rope-climbing robot with automatic clamping force adjustment, including a driving device 1, a driven device 2, a slide rail device 3, a clamping force adjustment device 4, and an electronic control device 5 (not described in detail in the present invention). In the working state, the driving device 1 and the driven device 2 are respectively located on both sides of the cable and are relatively distributed, and a parallel space is formed in the middle to clamp the cable. The two ends of the slide rail device 3 and the clamping force adjustment device 4 are respectively connected to the driving device 1 and the driven device 2 of the robot. The slide rail device is used to maintain the relative position of the robot driving device 1 and the driven device 2, prevent the robot driving device and the driven device from being misaligned, and allow them to move along the slide rail. The electronic control device 5 is installed on the driven device 2.

[0038] As attached Figure 2 , 3As shown in Figures 4 and 5, the driving device 1 includes a driving end support plate 1-1, a driving end housing 1-2, a bearing seat 1-3, a driving end crawling wheel device 1-4, a belt 1-5, a tensioning mechanism 1-6, a driving pulley 1-7, a motor bracket 1-8, and a driving motor 1-9. The driving end crawling wheel device 1-4 is composed of a driving shaft 1-4-1, a hub 1-4-2, a crawling wheel 1-4-3, and a pulley 1-4-4. The crawling wheel 1-4-3 is connected to the pulley 1-4-4. The hub 1-4-2 is installed on the driving shaft 1-4-1, and both ends of the driving shaft 1-4-1 are installed on the inner side of the driving end support plate 1-1 through the bearing seat 1-3. The pulley 1-4-4 is installed at one end of the driving shaft 1-4-1, and the two driving end crawling wheel devices 1-4 are spaced a certain distance apart; the tensioning mechanism 1-6 is composed of an adjusting bolt 1-6-1, an adjusting bracket 1-6-2, a tensioning wheel 1-6-3, and a fixed bracket 1-6-4. The tensioning wheel 1-6-3 is adjusted The section bracket 1-6-2 is installed on the fixed bracket 1-6-4. By adjusting the adjusting bolt 1-6-1 on the driving end support plate 1-1, the adjusting bracket 1-6-2 and the fixed bracket 1-6-4 can be moved, driving the tensioning wheel 1-6-3 to move, thereby realizing the tensioning of the belt 1-5. The tensioning mechanism 1-6 is installed on the inner side of the driving end support plate 1-1 through the fixed bracket 1-6-4; the driving motor 1-9 is installed on the outer side of the driving end support plate 1-1 through the motor bracket 1-8, and its output shaft is equipped with a driving pulley 1-7. A belt 1-5 is installed between the driving pulley 1-7 on the motor, the pulleys 1-4-4 of the two driving end crawling wheel devices 1-4 and the tensioning wheel 1-6-3, which is used to transmit the power output by the driving motor 1-9 to each driving end crawling wheel device 1-4, thereby driving the robot to crawl. The driving end housing 1-2 is installed on the outer side of the driving end support plate 1-1 to protect the driving motor 1-9.

[0039] As attached Figure 2 , 6 As shown in Figures 7 and 8, the driven device 2 includes a driven end support plate 2-1, a driven end housing 2-2, a bearing seat 2-3, and a driven end crawling wheel device 2-4. The driven end crawling wheel device 2-4 is composed of a driven shaft 2-4-1, a wheel hub 2-4-2, and a crawling wheel 2-4-3. The crawling wheel 2-4-3 is installed on the driven shaft 2-4-1 through the wheel hub 2-4-2. Both ends of the driven shaft 2-4-1 are installed on the inner side of the driven end support plate 2-1 through the bearing seat 2-3. The two driven end crawling wheel devices 2-4 are spaced a certain distance apart. The driven end housing 2-2 is installed on the outer side of the driven end support plate 2-1 to protect the electronic control device 5.

[0040] As attached Figure 8As shown, the slide rail device 3 includes an L connecting block 3-1, a slider 3-2, a slider bracket 3-3, and a slide rail 3-4. The slider bracket 3-3 is installed on the driven end support plate 2-1 through the L connecting block 3-1, and the slider 3-2 is installed on the slider bracket 3-3; the slide rail 3-4 is installed on the driving end support plate 1-1 through the L connecting block 3-1; the slider 3-2 and the slide rail 3-4 are installed together and can slide along the direction of the slide rail 3-4. The device is used to connect the driving device 1 and the driven device 2 of the rope climbing robot together, so that the relative distance between the driving device 1 and the driven device 2 of the robot can be changed along the direction of the slide rail 3-4 to adapt to the clamping of cables with different diameters.

[0041] As attached Fig. 9 , 10As shown in Figure 11, the clamping force adjustment device 4 includes a buffer device 4-1, a tension measuring device 4-2, and a tension adjustment device 4-3. The buffer device 4-1 is composed of a pull rod 4-1-1, a spring 4-1-2, and a buffer seat 4-1-3; the buffer seat 4-1-3 is installed on the driving end support plate 1-1, and the spring 4-1-2 is installed on the pull rod 4-1-1. One end of the pull rod 4-1-1 passes through the hole of the buffer seat 4-1-3, and the spring 4-1-2 is fixed between the pull rod 4-1-1 and the buffer seat 4-1-3 through the pull rod 4-1-1 and the buffer seat 4-1-3. When the pull rod When the distance between 4-1-1 and the buffer seat 4-1-3 changes, the compression spring 4-1-2 is moved or the tension of the spring 4-1-2 is applied; the tension measuring device 4-2 is composed of a housing 4-2-1, a tension sensor 4-2-2, a bottom plate 4-2-3, and a hook 4-2-4; the housing 4-2-1 is installed on the thread of the pull rod 4-1-1 of the buffer device 4-1, and the tension sensor 4-2-2 is installed between the housing 4-2-1 and the bottom plate 4-2-3. The housing 4-2-1, the tension sensor 4-2-2, and the bottom plate 4-2-3 are fixed together by bolts, and the hook 4-2-4 is installed in the middle of the tension sensor 4-2-2 through its upper thread. When the pull hook 4-2-4 is subjected to tension, the tension sensor 4-2-2 will be subjected to tension, and the pull rod 4-1-1 of the buffer device 4-1 will be pulled relative to the buffer seat 4-1-3 through the tension measuring device 4-2 housing 4-2-1, thereby compressing or releasing the spring 4-1-2; the tension adjustment device 4-3 is composed of a wire cover 4-3-1, a winding wheel 4-3-2, a motor bracket 4-3-3, a motor 4-3-4, and a wire rope 4-3-5. The motor 4-3-4 is connected to the motor bracket 4-3 -3 is installed on the driven end support plate 2-1, and a winding wheel 4-3-2 is installed on the shaft of the motor 4-3-4. The wire cover 4-3-1 covers the winding wheel 4-3-2 and is fixed to the driven end support plate 2-1 by bolts to prevent the wire rope 4-3-5 on the winding wheel 4-3-2 from escaping from the groove of the winding wheel 4-3-2. One end of the wire rope 4-3-5 is fixed on the winding wheel 4-3-2 and wound around the winding wheel 4-3-2. When the motor 4-3-4 rotates, it will drive the winding wheel 4-3-2 to rotate, changing the length of the wire rope 4-3-5 in the groove of the winding wheel 4-3-2;The other end of the wire rope 4-3-5 is equipped with a lock buckle, and the lock buckle of the wire rope 4-3-5 is connected with the hook 4-2-4 of the tension measuring device 4-2. When the motor 4-3-4 rotates, the tension measuring device 4-2 can be pulled by the wire rope 4-3-5, and then the pull rod 4-1-1 of the buffer device 4-1 can be pulled, and the tension force can be measured by the tension sensor 4-2-2, so as to realize the clamping force control of the cable by the cable climbing robot. When the diameter of the cable changes, The spring 4-1-2 of the buffer device 4-1 adjusts the clamping force, and the tension sensor 4-2-2 detects the change of the tension, and then the electronic control device 5 judges and processes it. When the tension exceeds the preset maximum tension, the motor 4-3-4 is controlled to reverse (assuming that forward rotation is tensioning) to reduce the tension. When the tension is less than the preset minimum tension, the motor 4-3-4 is controlled to rotate forward (assuming that forward rotation is tensioning) to increase the tension, thereby realizing automatic adjustment of the robot's clamping force. ;

[0042] As attached Figure 2 As shown, the electronic control device 5 is installed on the outer side of the driven end support plate 2-1 and is not described in detail in the present invention. It is used to control the measurement of the tension of each tension sensor of the robot, the operation of the motor of the tension adjustment device and the drive motor, to achieve the adjustment of the clamping force of the robot and the speed control and steering of the robot drive motor, to achieve the adjustment of the crawling speed of the robot and the change of the crawling direction.

[0043] According to the detection requirements, the robot can be equipped with corresponding sensors, such as cameras, encoders, etc., to meet the requirements of diversified detection of cables.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. The cases described are only preferred embodiments of the present invention and are not limitations on the design of the present invention. Technicians can make various changes and modifications to the present invention when facing specific problems. Without departing from the spirit and scope of the present invention, these changes and improvements fall within the scope of the present invention to be protected.

Claims

1. A rope-climbing robot with automatic clamping force adjustment, characterized in that: The invention comprises a driving device (1), a driven device (2), a slide rail device (3), a clamping force adjustment device (4), and an electronic control device (5); the driving device (1) comprises a driving end support plate (1-1), a driving end housing (1-2), a bearing seat (1-3), a driving end crawler wheel device (1-4), a belt (1-5), a tensioning mechanism (1-6), a driving pulley (1-7), a motor bracket (1-8), and a driving motor (1-9); the driving end crawler wheel device (1-4) comprises a driving shaft (1-4-1), a wheel hub (1-4-2), a crawler wheel (1-4-3), and a pulley (1-4-4); the crawler wheel (1-4 -3) is installed on the driving shaft (1-4-1) through the wheel hub (1-4-2), and is installed on the inner side of the driving end support plate (1-1) through the bearing seat (1-3); a pulley (1-4-4) is installed on one end of the driving shaft (1-4-1), and the two driving end crawling wheel devices (1-4) are spaced a certain distance apart; the tensioning mechanism (1-6) is composed of an adjusting bolt (1-6-1), an adjusting bracket (1-6-2), a tensioning wheel (1-6-3), and a fixed bracket (1-6-4); the tensioning wheel (1-6-3) is installed on the fixed bracket (1-6-4) through the adjusting bracket (1-6-2), and the adjusting bolt on the driving end support plate (1-1) is adjusted. (1-6-1), the adjustment bracket (1-6-2) and the fixed bracket (1-6-4) can be moved, the tensioning mechanism (1-6) is installed on the inner side of the driving end support plate (1-1) through the fixed bracket (1-6-4), the driving motor (1-9) is installed on the outer side of the driving end support plate (1-1) through the motor bracket (1-8), the output shaft of the driving motor (1-9) is equipped with a driving pulley (1-7), a belt (1-5) is installed between the driving pulley (1-7) on the motor, the pulleys (1-4-4) of the two driving end crawling wheel devices (1-4) and the tensioning wheel (1-6-3), and the driving end housing (1-2) is installed on the outer side of the driving end support plate (1-1) The driven device (2) comprises a driven end support plate (2-1), a driven end housing (2-2), a bearing seat (2-3), and a driven end crawling wheel device (2-4); the driven end crawling wheel device (2-4) comprises a driven shaft (2-4-1), a wheel hub (2-4-2), and a crawling wheel (2-4-3); the crawling wheel (2-4-3) is mounted on the driven shaft (2-4-1) via the wheel hub (2-4-2), and is mounted on the inner side of the driven end support plate (2-1) via the bearing seat (2-3); the two driven end crawling wheel devices (2-4) are spaced a certain distance apart, and the driven end housing (2-2) is mounted on the outer side of the driven end support plate (2-1);The slide rail device (3) comprises an L connection block (3-1), a slider (3-2), a slider bracket (3-3), and a slide rail (3-4); the slider bracket (3-3) is mounted on the driven end support plate (2-1) through the L connection block (3-1); the slider (3-2) is mounted on the slider bracket (3-3); and the slide rail (3-4) is mounted on the driving end support plate (1-1) through the L connection block (3-1); the slider (3-2) and the slide rail (3-4) are assembled and mounted together and can slide along the direction of the slide rail (3-4); the clamping force adjustment device (4) comprises a buffer device (4-1), a tension measuring device (4-2), and a tension adjustment device (4-3); the buffer The device (4-1) is composed of a pull rod (4-1-1), a spring (4-1-2), and a buffer seat (4-1-3); the buffer seat (4-1-3) is installed on the driving end support plate (1-1), the spring (4-1-2) is installed on the pull rod (4-1-1), one end of the pull rod (4-1-1) passes through the hole of the buffer seat (4-1-3), and the spring (4-1-2) is fixed between the pull rod (4-1-1) and the buffer seat (4-1-3) through the cooperation of the pull rod (4-1-1) and the buffer seat (4-1-3); the tension measuring device (4-2) is composed of a housing (4-2-1), a tension sensor (4-2-2), a bottom plate (4-2-3), a hook (4-2- 4), the housing (4-2-1) is installed on the thread of the pull rod (4-1-1) of the buffer device (4-1), the tension sensor (4-2-2) is installed between the housing (4-2-1) and the bottom plate (4-2-3), the housing (4-2-1), the tension sensor (4-2-2) and the bottom plate (4-2-3) are fixed together by bolts, the hook (4-2-4) is installed in the middle of the tension sensor (4-2-2) through the thread thereon, the tension adjustment device (4-3) is composed of a wire cover (4-3-1), a winding wheel (4-3-2), a motor bracket (4-3-3), a motor (4-3-4) and a wire rope (4-3-5), the motor ( 4-3-4) is installed on the driven end support plate (2-1) through the motor bracket (4-3-3), a winding wheel (4-3-2) is installed on the shaft of the motor (4-3-4), a wire cover (4-3-1) covers the winding wheel (4-3-2) and is fixed to the driven end support plate (2-1) by bolts, one end of the wire rope (4-3-5) is fixed on the winding wheel (4-3-2) and wound on the winding wheel (4-3-2), and a lock is provided on the other end, and the lock of the wire rope (4-3-5) is connected to the hook (4-2-4) of the tension measuring device (4-2); the control device (5) is installed on the outside of the driven end support plate (2-1), and is not described in detail in the present invention. ; 2. A rope-climbing robot with automatic clamping force adjustment according to claim 1, characterized in that: The clamping force adjustment device (4) can measure the magnitude of the tension thereon through a tension sensor (4-2-2), and the electronic control device (5) can control the tension adjustment device (4-3) to automatically adjust the tension between the robot driving device (1) and the driven device (2) based on the measured tension value, and the sum of the tensions is the clamping force of the robot on the cable.

3. The rope-climbing robot with automatic clamping force adjustment according to claim 1, characterized in that: The spring (4-1-2) of the clamping force adjustment device (4) provides a pulling force between the robot driving device (1) and the driven device (2), providing the robot with a clamping force for the cable, and at the same time serves as a buffer spring to increase the robot's adaptability to changes in cable diameter.

4. The rope-climbing robot with automatic clamping force adjustment according to claim 1, characterized in that: The robot crawling wheel (1-4-3) and the crawling wheel (2-4-3) can change their structural shapes according to the structure of the actual cable to adapt to the situation where there are light strips and other additional devices on the cable.

5. The rope-climbing robot with automatic clamping force adjustment according to claim 1, characterized in that: The steel wire rope (4-3-5) can be replaced by other ropes according to actual needs.

6. The tension sensor (4-2-2) according to claim 2 can also be used to measure tension using other forms of tension sensors or by indirectly measuring the tension through displacement measurement.

Images