Composite clamping device for cable inspection robot and cable inspection robot
By designing a composite clamping device, including an upper U-shaped seat, a vertical clamping walking mechanism and a lateral clamping mechanism, passive adaptation to the cable is achieved, which solves the difficulty of patrol robots in the prior art to adapt to cable unevenness, and improves patrol efficiency and stability.
Patent Information
- Application Number
- CN202311198315.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-18
- Publication Date
- 2025-03-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the inspection process, existing high-voltage line inspection robots are difficult to passively adapt to the uneven situation on the outside of the cable, which leads to repeated adjustment of the clamping mechanism, affecting the inspection efficiency, and the robot may be unable to move forward due to adjustment errors.
A composite clamping device is designed, including an upper U-shaped seat, a vertical clamping walking mechanism and a lateral clamping mechanism. By clamping and installing the lifting mechanism and a vertical buffer connection mechanism, passive adaptation to the cable is achieved and repeated adjustment of the clamping mechanism is avoided.
This device can effectively adapt to cable uneven conditions, improve patrol efficiency, avoid travel obstacles caused by adjustment errors, and ensure the stability and efficiency of the patrol process.
Smart Images
Figure CN119627699A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of cable inspection equipment, in particular to a composite clamping device used by a cable inspection robot and the cable inspection robot. Background Art
[0002] During the inspection process, existing high-voltage line inspection robots need to rely on the drive motor to actively adjust the clamping distance and cannot passively adapt. When encountering complex line conditions such as uneven obstacle surfaces or rusted and frozen lines, the clamping mechanism needs to be repeatedly adjusted, which seriously affects the inspection efficiency, or the robot is interfered with and unable to move forward due to adjustment errors. Summary of the invention
[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a composite clamping device and a cable inspection robot used by a cable inspection robot, which has a buffering effect on the clamping of the cable and can passively adapt to the unevenness of the outer side of the cable, such as rust and icing and other complex conditions. There is no need to repeatedly adjust the clamping system, which can improve the efficiency of the inspection and avoid the inability to move forward due to adjustment errors, and can effectively solve the problems in the background technology.
[0004] To achieve the above object, the present invention provides the following technical solution: a composite clamping device used by a cable inspection robot, comprising: The upper U-shaped seat is opened downward, and rectangular through grooves are respectively provided on the left and right sides of the top of the upper U-shaped seat, and the bottom of the upper U-shaped seat is respectively connected to the top of the clamping and mounting lifting mechanism through a vertical buffer connection mechanism; The vertical clamping walking mechanism comprises a fixed shaft, a lower roller, a lifting seat plate, a support plate, a power shaft and an upper roller. The lower rollers are rotatably connected in two rectangular through grooves through longitudinal fixed shafts respectively. The lifting seat plate is installed on the clamping and mounting lifting mechanism, and the left and right ends of the rear side of the upper surface of the lifting seat plate are detachably fixedly connected to the bottoms of the two support plates respectively. The tops of the two support plates are rotatably connected to the two longitudinal power shafts respectively. The front ends of the two power shafts are respectively fixedly sleeved with upper rollers. The two upper rollers are respectively located directly above the two lower rollers, and the middle parts of the upper rollers and the lower rollers are respectively provided with clamping annular grooves. The rear ends of the two power shafts are connected to the walking power mechanism. The lateral clamping mechanism is installed on the upper U-shaped seat.
[0005] The clamping and installing lifting mechanism and the upper U-shaped seat can be relatively buffered by the vertical buffer connection mechanism, so that the distance between the lower roller and the upper roller can be buffered and changed, thereby passively adapting to the uneven situation on the cable. The clamping and installing lifting mechanism can drive the lifting seat plate to move up and down relative to the U-shaped seat, thereby driving the power shaft and the upper roller to move up and down through the support plate, thereby changing the distance between the roller and the lower roller. When the upper roller moves downward relative to the U-shaped seat, the upper roller and the lower roller cooperate with the clamping annular groove in the middle to clamp the upper and lower sides of the cable, so that the upper U-shaped seat can move along the cable, and the lateral clamping mechanism can clamp both sides of the cable, which can improve the stability of clamping and does not interfere with the forward movement along the cable.
[0006] Furthermore, the clamping and installing lifting mechanism includes a sliding column, a bearing, a stud, a lifting motor and a lower U-shaped seat, wherein the lower U-shaped seat is located directly below the upper U-shaped seat, and the opening of the lower U-shaped seat is arranged upward, and a sliding column is fixedly connected to the left side of the lower U-shaped seat, and the sliding column is vertically slidably connected to the sliding hole on the lifting seat plate, and the right side of the lower U-shaped seat is rotatably connected to the bottom end of the stud through a bearing, and the stud is threadedly connected to the threaded hole on the lifting seat plate, and the bottom end of the stud is fixedly connected to the output shaft of the lifting motor, and the lifting motor is fixed to the bottom of the lower U-shaped seat. When the lifting motor is working, the stud can be driven to rotate relative to the lower U-shaped seat through the bearing, and the threaded action of the stud and the lifting seat plate can drive the sliding column and the lifting seat plate to slide relative to each other, thereby changing the distance between the upper roller and the lower roller.
[0007] Furthermore, the vertical buffer connection mechanism includes a guide vertical rod, a vertical buffer spring and a blocking nut. The four bottom corners of the upper U-shaped seat are respectively fixedly connected to the tops of the four guide vertical rods. The four guide vertical rods are respectively vertically slidably connected to the guide holes at the four corners of the lower U-shaped seat. The portion of each guide vertical rod between the upper U-shaped seat and the lower U-shaped seat is sleeved with a vertical buffer spring. The bottom ends of the four guide vertical rods are respectively threadedly connected with blocking nuts. The guide vertical rod enables the upper U-shaped seat and the lower U-shaped seat to move relatively stably. The blocking nut can prevent the lower U-shaped seat from separating from the guide vertical rod. When the upper roller and the lower roller encounter an uneven place of the cable, the distance between the upper roller and the lower roller can be changed as the vertical buffer spring expands and contracts, and the change in the cross-sectional size of the cable can be passively adapted, so that the composite clamping device will not be interfered and cannot move.
[0008] Furthermore, the walking power mechanism includes a synchronous transmission assembly and a power assembly, the rear ends of the two power shafts are connected through the synchronous transmission assembly, and one of the power shafts is connected to the power assembly. The power assembly can drive one of the power shafts to rotate, providing power for the composite clamping device to move forward, and the synchronous transmission assembly allows the two power shafts to rotate synchronously, allowing the two upper rollers to rotate synchronously, and due to the friction with the cable, the composite clamping device can stably move along the cable.
[0009] The two ends of the longitudinal guide rod are respectively sleeved with longitudinal springs, and the tops of the two sliding blocks are respectively fixedly connected to the two wheel frames through the bent frames, and the two wheel frames are respectively rotatably connected to the clamping vertical wheels through the vertical wheel shafts. The two clamping vertical wheels are located above the top of the upper U-shaped seat, and annular grooves are respectively opened in the middle of the outer peripheral sides of the two clamping vertical wheels. The opposite adjustment component can drive the two movable blocks to move closer to or away from each other, thereby changing the distance between the two clamping vertical wheels, so that the two clamping vertical wheels can cooperate with the annular groove to clamp the two sides of the cable. If the two sides of the cable are uneven, the sliding block will passively slide along the longitudinal slide groove box, and rely on the buffering effect of the longitudinal spring to make the distance between the two clamping vertical wheels passively adapt to the cable, which has good adaptability to the cable.
[0010] Furthermore, the opposite adjustment assembly includes a bending rod, an end plate, a clamping motor, a longitudinal slide rod and a bidirectional screw rod. End plates are respectively provided at the front and rear of the middle part of the upper U-shaped seat. The end plates are fixed to the upper U-shaped seat through the bending rod. A longitudinal slide rod is fixedly connected between the two end plates, and a bidirectional screw rod is rotatably connected between the two end plates. The thread directions of the two ends of the bidirectional screw rod are opposite, and the front end of the bidirectional screw rod is fixedly connected to the output shaft of the clamping motor. The clamping motor is fixed to the front end plate. The front and rear ends of the bidirectional screw rod are respectively threadedly connected to the threaded holes on the two movable blocks, and the longitudinal slide rod is slidably connected to the sliding holes on the two movable blocks. The clamping motor drives the bidirectional screw rod to rotate. Since the thread directions of the two ends of the bidirectional screw rod are different, the two movable blocks can be driven to move closer to or farther away from each other along the longitudinal slide rod through the action of the thread. When the two movable blocks are close to each other, the two clamping vertical wheels can clamp the two sides of the cable.
[0011] Furthermore, it also includes an anti-line derailment mechanism. The front and rear sides of each upper roller are respectively installed with an anti-line derailment mechanism. The anti-line derailment mechanism can prevent the cable from falling off between the upper roller and the lower roller when the wind blows the cable, causing the composite clamping device to fall off.
[0012] Furthermore, the anti-line derailment mechanism includes screws, a fixing ring and an anti-line derailment rod. The front and rear sides of the upper roller are respectively fixedly connected with the fixing ring by screws. The fixing ring is arranged concentrically with the upper roller, and no less than six anti-line derailment rods are arranged in a circular array on the outer circumference of the fixing ring. The fixing ring is fixed by screws. The anti-line derailment rod on the fixing ring can block the gap between the ends of the upper roller and the lower roller to prevent the cable from falling off from here.
[0013] A cable inspection robot comprises the composite clamping device used by the above-mentioned cable inspection robot.
[0014] Furthermore, it also includes an equipment installation component, and the front side of the lower U-shaped seat in the clamping and installing lifting mechanism is detachably provided with the equipment installation component, and the main body of the cable inspection robot can be installed using the equipment installation component.
[0015] Compared with the prior art, the beneficial effects of the present invention are: the composite clamping device and the cable inspection robot used in the present cable inspection robot have the following advantages: 1. The clamping and installing lifting mechanism and the upper U-shaped seat can be relatively buffered through the vertical buffer connection mechanism, so that the distance between the lower roller and the upper roller can be buffered and changed, thereby passively adapting to the uneven situation on the cable. The clamping and installing lifting mechanism can drive the lifting seat plate to move up and down relative to the U-shaped seat, thereby driving the power shaft and the upper roller to move up and down through the support plate, thereby changing the distance between the roller and the lower roller. When the upper roller moves downward relative to the U-shaped seat, the upper roller and the lower roller cooperate with the clamping annular groove in the middle to clamp the upper and lower sides of the cable, so that the upper U-shaped seat can move along the cable. The lateral clamping mechanism can clamp both sides of the cable, which can improve the stability of the clamping and does not interfere with the forward movement along the cable.
[0016] 2. It has a buffering effect on the clamping of cables and can passively adapt to the unevenness of the outer side of the cables, such as rust and icing. There is no need to repeatedly adjust the clamping Chengdu, which can improve the efficiency of inspection and avoid adjustment errors that lead to inability to move forward. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the partially enlarged structure at center A; Figure 3 It is a bottom view structural schematic diagram of the present invention; Figure 4 It is a schematic diagram of the rear structure of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the local enlarged structure at point B in the middle.
[0018] In the figure: 1 upper U-shaped seat, 2 rectangular through groove, 3 vertical clamping walking mechanism, 31 fixed shaft, 32 lower roller, 33 lifting seat plate, 34 fixed seat, 35 fixing bolt, 36 support plate, 37 power shaft, 38 upper roller, 4 walking power mechanism, 41 pulley, 42 belt, 43 driven gear, 44 driving gear, 45 power motor, 46 motor seat, 5 clamping installation lifting mechanism, 51 sliding column, 52 limit nut, 53 bearing, 54 stud, 55 lifting motor, 56 lower U-shaped seat, 6 vertical buffer connection mechanism , 61 guide vertical rod, 62 vertical buffer spring, 63 blocking nut, 7 lateral clamping mechanism, 71 bent rod, 72 end plate, 73 clamping motor, 74 longitudinal slide rod, 75 bidirectional screw, 76 movable block, 77 longitudinal slide box, 78 sliding block, 79 longitudinal guide rod, 710 longitudinal spring, 711 bent frame, 712 wheel frame, 713 vertical wheel axle, 714 clamping vertical wheel, 8 anti-offline mechanism, 81 screw, 82 fixing ring, 83 anti-offset blocking rod, 9 equipment installation assembly, 91 locking bolt, 92 plug plate, 93 installation platform, 94 installation hole. Implementation
[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0020] For example, see Figures 1 to 5 , This embodiment provides a technical solution: a composite clamping device used by a cable inspection robot, comprising an upper U-shaped seat 1, a vertical clamping walking mechanism 3 and a lateral clamping mechanism 7; The upper U-shaped seat 1 is opened downward, and rectangular through grooves 2 are respectively provided on the left and right sides of the top of the upper U-shaped seat 1. The bottom of the upper U-shaped seat 1 is connected to the top of the clamping and mounting lifting mechanism 5 through the vertical buffer connection mechanism 6. The clamping and installing lifting mechanism 5 includes a sliding column 51, a bearing 53, a stud 54, a lifting motor 55 and a lower U-shaped seat 56. The lower U-shaped seat 56 is located directly below the upper U-shaped seat 1, and the opening of the lower U-shaped seat 56 is set upward. The sliding column 51 is fixedly connected to the left side of the lower U-shaped seat 56. The sliding column 51 is vertically slidably connected to the sliding hole on the lifting seat plate 33. The right side of the lower U-shaped seat 56 is rotatably connected to the bottom end of the stud 54 through the bearing 53. The stud 54 is threadedly connected to the threaded hole on the lifting seat plate 33. The bottom end of the stud 54 is fixedly connected to the output shaft of the lifting motor 55, and the lifting motor 55 is fixed to the bottom of the lower U-shaped seat 56. The lifting motor 55 adopts a servo motor. When the lifting motor 55 is working, it can drive the stud 54 to rotate relative to the lower U-shaped seat 56 through the bearing 53. Due to the threaded action of the stud 54 and the lifting seat plate 33, the sliding column 51 and the lifting seat plate 33 can be driven to slide relative to each other, thereby changing the distance between the upper roller 38 and the lower roller 32.
[0021] The top of the sliding column 51 is threadedly connected with a limit nut 52 to prevent the lifting seat plate 33 from being lifted too high and detached from the top of the sliding column 51 .
[0022] The vertical buffer connection mechanism 6 includes a guide vertical rod 61, a vertical buffer spring 62 and a blocking nut 63. The four bottom corners of the upper U-shaped seat 1 are respectively fixedly connected to the tops of the four guide vertical rods 61. The four guide vertical rods 61 are respectively vertically slidably connected to the guide holes at the four corners of the lower U-shaped seat 56. The part of each guide vertical rod 61 between the upper U-shaped seat 1 and the lower U-shaped seat 56 is sleeved with a vertical buffer spring 62, and the bottom ends of the four guide vertical rods 61 are respectively threadedly connected with blocking nuts 63. The guide vertical rod 61 allows the upper U-shaped seat 1 and the lower U-shaped seat 56 to move relatively stably, and the blocking nut 63 can prevent the lower U-shaped seat 56 from being separated from the guide vertical rod 61. When the upper roller 38 and the lower roller 32 encounter an uneven place of the cable, the distance between the upper roller 38 and the lower roller 32 can be changed with the expansion and contraction of the vertical buffer spring 62, and the change of the cross-sectional size of the cable can be passively adapted, so that the composite clamping device will not be interfered and cannot move.
[0023] The vertical clamping walking mechanism 3 includes a fixed shaft 31, a lower roller 32, a lifting seat plate 33, a support plate 36, a power shaft 37 and an upper roller 38. The lower rollers 32 are rotatably connected in the two rectangular through grooves 2 through the longitudinal fixed shafts 31, respectively. The lifting seat plate 33 is installed on the clamping and mounting lifting mechanism 5, and the left and right ends of the rear side of the upper surface of the lifting seat plate 33 are detachably fixedly connected to the bottoms of the two support plates 36, and the tops of the two support plates 36 are rotatably connected to the two longitudinal power shafts 37, and the front ends of the two power shafts 37 are respectively fixedly sleeved with upper rollers 38, and the two upper rollers 38 are respectively located directly above the two lower rollers 32, and the middle parts of the upper rollers 38 and the lower rollers 32 are respectively provided with clamping annular grooves, and the rear ends of the two power shafts 37 are connected to the walking power mechanism 4; The bottom of each support plate 36 is fixedly connected with a fixing seat 34, and the fixing seat 34 is fixedly connected to the upper surface of the lifting seat plate 33 by fixing bolts 35, so as to realize the detachable connection between the support plate 36 and the lifting seat plate 33; The travel power mechanism 4 includes a synchronous transmission assembly and a power assembly. The rear ends of the two power shafts 37 are connected through the synchronous transmission assembly, and one of the power shafts 37 is connected to the power assembly. The power assembly can drive one of the power shafts 37 to rotate, providing power for the composite clamping device to move forward. The synchronous transmission assembly allows the two power shafts 37 to rotate synchronously, and the two upper rollers 38 to rotate synchronously. Due to the friction with the cable, the composite clamping device can stably move along the cable.
[0024] The synchronous transmission assembly includes a pulley 41 and a belt 42. The rear ends of the two power shafts 37 are fixedly connected with pulleys 41 respectively, and the two pulleys 41 are connected through the belt 42. The power assembly includes a driven gear 43, a driving gear 44, a power motor 45, and a motor seat 46, wherein the rear end of one of the power shafts 37 is fixedly connected to the driven gear 43, the support plate 36 is located at the lower side of the driven gear 43 and is fixedly connected to the power motor 45 through the motor seat 46, the output shaft of the power motor 45 is fixedly connected to the driving gear 44, the driving gear 44 is meshed with the driven gear 43, the power motor 45 drives the driving gear 44 to rotate, and the two power shafts 37 can be driven to rotate in the same direction through the transmission of the driving gear 44 and the synchronous transmission assembly, providing power for the advancement of the composite clamping device; The lateral clamping mechanism 7 is mounted on the upper U-shaped seat 1 .
[0025] The lateral clamping mechanism 7 includes a pair adjustment component, a movable block 76, a longitudinal slide slot box 77, a sliding block 78, a longitudinal guide rod 79, a longitudinal spring 710, a bending frame 711, a wheel frame 712, a vertical wheel shaft 713 and a clamping vertical wheel 714. The inner side of the upper U-shaped seat 1 is equipped with a pair adjustment component, and two movable blocks 76 are installed on the pair adjustment component. The two movable blocks 76 are respectively located at the front and rear sides of the upper U-shaped seat 1. The tops of the two movable blocks 76 are respectively fixedly connected with longitudinal slide slot boxes 77, and the two longitudinal slide slot boxes 77 are respectively fixedly connected with longitudinal The guide rod 79 is longitudinally slidably connected with a sliding block 78 on the longitudinal guide rod 79, and the sliding block 78 is slidably connected with the corresponding longitudinal slide slot box 77. The two ends of the longitudinal guide rod 79 are respectively sleeved with longitudinal springs 710. The tops of the two sliding blocks 78 are respectively fixedly connected with two wheel frames 712 through a bent frame 711. The two wheel frames 712 are respectively rotatably connected with clamping vertical wheels 714 through vertical wheel shafts 713. The two clamping vertical wheels 714 are located above the top of the upper U-shaped seat 1, and the middle of the outer peripheral side of the two clamping vertical wheels 714 are respectively provided with annular grooves. The opposite adjustment component can drive the two movable blocks 76 to approach or move away from each other, thereby changing the distance between the two clamping vertical wheels 714, so that the two clamping vertical wheels 714 can cooperate with the annular groove to clamp the two sides of the cable. If the two sides of the cable are uneven, the sliding block 78 slides passively along the longitudinal slide slot box 77, and the distance between the two clamping vertical wheels 714 is passively adapted to the cable by relying on the buffering effect of the longitudinal spring 710, which has good adaptability to the cable.
[0026] The opposite adjustment component includes a bent rod 71, an end plate 72, a clamping motor 73, a longitudinal sliding rod 74 and a bidirectional screw 75. End plates 72 are respectively provided at the front and rear of the middle part of the upper U-shaped seat 1. The end plate 72 is fixed to the upper U-shaped seat 1 through the bent rod 71. A longitudinal sliding rod 74 is fixedly connected between the two end plates 72, and a bidirectional screw 75 is rotatably connected between the two end plates 72. The thread directions of the two ends of the bidirectional screw 75 are opposite, and the front end of the bidirectional screw 75 is fixedly connected to the output shaft of the clamping motor 73. The clamping motor 73 is fixed on the front end plate 72. The front and rear ends of the bidirectional screw 75 are respectively threadedly connected to the threaded holes on the two movable blocks 76, and the longitudinal sliding rod 74 is slidably connected to the sliding holes on the two movable blocks 76. The clamping motor 73 adopts a servo motor, which drives the bidirectional screw 75 to rotate. Since the thread directions of the two ends of the bidirectional screw 75 are different, the two movable blocks 76 can be driven to move closer to or away from each other along the longitudinal sliding rod 74 through the action of the threads. When the two movable blocks 76 are close to each other, the two clamping vertical wheels 714 can clamp the two sides of the cable.
[0027] When in use, the clamping and installing lifting mechanism 5 and the upper U-shaped seat 1 can be relatively buffered through the vertical buffer connection mechanism 6, so that the distance between the lower roller 32 and the upper roller 38 can be buffered and changed, thereby passively adapting to the uneven situation on the cable. The clamping and installing lifting mechanism 5 can drive the lifting seat plate 33 to move up and down relative to the U-shaped seat 1, thereby driving the power shaft 37 and the upper roller 38 to move up and down through the support plate 36, thereby changing the distance between the roller 38 and the lower roller 32. When the upper roller 38 moves downward relative to the U-shaped seat 1, the upper roller 38 and the lower roller 32 cooperate with the clamping annular groove in the middle to clamp the upper and lower sides of the cable, so that the upper U-shaped seat 1 can move along the cable. The lateral clamping mechanism 7 can clamp both sides of the cable, which can improve the stability of clamping and does not interfere with the forward movement along the cable.
[0028] For example 2, please refer to Figures 1 to 5 This embodiment provides a technical solution: a composite clamping device used by a cable inspection robot. The structure of this embodiment is roughly the same as that of the first embodiment, except that: It also includes an anti-line-off mechanism 8, and the front and rear sides of each upper roller 38 are respectively installed with an anti-line-off mechanism 8. The anti-line-off mechanism 8 can prevent the cable from falling off from between the upper roller 38 and the lower roller 32 when the wind blows the cable, causing the composite clamping device to fall off.
[0029] The anti-line off-line mechanism 8 includes a screw 81, a fixing ring 82 and an anti-line off-bar 83. The front and rear sides of the upper roller 38 are fixedly connected with the fixing ring 82 by the screw 81 respectively. The fixing ring 82 is arranged concentrically with the upper roller 38, and no less than six anti-line off-bars 83 are arranged in a circular array on the outer peripheral side of the fixing ring 82. The screw 81 fixes the fixing ring 82. The anti-line off-bar 83 on the fixing ring 82 can block the gap between the ends of the upper roller 38 and the lower roller 32 to prevent the cable from falling off from here.
[0030] For example 3, please refer to Figures 1 to 5 ,This embodiment provides a technical solution: a cable inspection robot, including the composite clamping device used by the above-mentioned cable inspection robot; It also includes an equipment installation component 9. The front side of the lower U-shaped seat 56 of the clamping and installing lifting mechanism 5 is detachably provided with the equipment installation component 9. The equipment installation component 9 can be used to install the main body of the cable inspection robot.
[0031] The equipment installation assembly 9 includes a locking bolt 91, an insert plate 92, a mounting platform 93, and a mounting hole 94. The insert plate 92 is inserted into the bottom front groove of the lower U-shaped seat 56, and the bottom of the lower U-shaped seat 56 is threadedly connected with a locking bolt 91. The bottom end of the locking bolt 91 is pressed against the insert plate 92, and the front end of the insert plate 92 is fixedly connected to a horizontal mounting platform 93. The four corners of the mounting platform 93 are respectively provided with mounting holes 94. The mounting platform 93 can be detachably installed with the help of the locking bolt 91 and the insert plate 92, and different mounting platforms 93 can be replaced. The mounting holes 94 on the mounting platform 93 are used to install the main body of the cable inspection robot. With the help of the equipment installation assembly 9 and the main body of the cable inspection robot, the front side of the composite clamping device can be counterweighted to balance the walking power mechanism 4 at the rear side of the composite clamping device.
[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. The composite clamping device used by the cable inspection robot is characterized by: include: The upper U-shaped seat (1) is opened downward, and rectangular through grooves (2) are respectively provided on the left and right sides of the top of the upper U-shaped seat (1); the bottom of the upper U-shaped seat (1) is connected to the top of the clamping and mounting lifting mechanism (5) through a vertical buffer connection mechanism (6); A vertical clamping walking mechanism (3) comprises a fixed shaft (31), a lower roller (32), a lifting seat plate (33), a support plate (36), a power shaft (37) and an upper roller (38); the lower rollers (32) are rotatably connected in two rectangular through grooves (2) through longitudinal fixed shafts (31), the lifting seat plate (33) is mounted on the clamping and mounting lifting mechanism (5), and the left and right ends of the rear side of the upper surface of the lifting seat plate (33) are detachably fixedly connected to the bottoms of the two support plates (36), the tops of the two support plates (36) are rotatably connected to the two longitudinal power shafts (37), the front ends of the two power shafts (37) are respectively fixedly sleeved with the upper rollers (38), the two upper rollers (38) are respectively located directly above the two lower rollers (32), and the middle parts of the upper rollers (38) and the lower rollers (32) are respectively provided with clamping annular grooves, and the rear ends of the two power shafts (37) are connected to the walking power mechanism (4); The lateral clamping mechanism (7) is mounted on the upper U-shaped seat (1).
2. The composite clamping device used by the cable inspection robot according to claim 1 is characterized in that: The clamping and mounting lifting mechanism (5) comprises a sliding column (51), a bearing (53), a stud (54), a lifting motor (55) and a lower U-shaped seat (56). The lower U-shaped seat (56) is located directly below the upper U-shaped seat (1), and the opening of the lower U-shaped seat (56) is arranged upward. The left side of the lower U-shaped seat (56) is fixedly connected with the sliding column (51). The sliding column (51) is vertically slidably connected to the sliding hole on the lifting seat plate (33). The right side of the lower U-shaped seat (56) is rotatably connected to the bottom end of the stud (54) through the bearing (53). The stud (54) is threadedly connected to the threaded hole on the lifting seat plate (33). The bottom end of the stud (54) is fixedly connected to the output shaft of the lifting motor (55). The lifting motor (55) is fixed to the bottom of the lower U-shaped seat (56).
3. The composite clamping device used by the cable inspection robot according to claim 2 is characterized in that: The vertical buffer connection mechanism (6) comprises a guide vertical rod (61), a vertical buffer spring (62) and a blocking nut (63); the top ends of four guide vertical rods (61) are fixedly connected to the four corners of the bottom of the upper U-shaped seat (1); the four guide vertical rods (61) are vertically slidably connected to the guide holes at the four corners of the lower U-shaped seat (56); a portion of each guide vertical rod (61) located between the upper U-shaped seat (1) and the lower U-shaped seat (56) is sleeved with a vertical buffer spring (62); and the bottom ends of the four guide vertical rods (61) are respectively threadedly connected with blocking nuts (63).
4. The composite clamping device used by the cable inspection robot according to claim 1, characterized in that: The walking power mechanism (4) comprises a synchronous transmission assembly and a power assembly, the rear ends of the two power rotating shafts (37) are connected via the synchronous transmission assembly, and one of the power rotating shafts (37) is connected to the power assembly.
5. The composite clamping device used by the cable inspection robot according to claim 1, characterized in that: The lateral clamping mechanism (7) comprises a counter-adjusting assembly, a movable block (76), a longitudinal slide box (77), a sliding block (78), a longitudinal guide rod (79), a longitudinal spring (710), a bending frame (711), a wheel frame (712), a vertical wheel shaft (713) and a clamping vertical wheel (714). The inner side of the upper U-shaped seat (1) is provided with a counter-adjusting assembly, and two movable blocks (76) are provided on the counter-adjusting assembly. The two movable blocks (76) are respectively located at the front and rear sides of the upper U-shaped seat (1). The tops of the two movable blocks (76) are respectively fixedly connected to the longitudinal slide boxes (77). The two longitudinal slide boxes (77) are respectively fixedly connected to the inner sides thereof. A longitudinal guide rod (79), wherein a sliding block (78) is longitudinally slidably connected to the longitudinal guide rod (79), the sliding block (78) is slidably connected to a corresponding longitudinal slide slot box (77), longitudinal springs (710) are respectively sleeved at both ends of the longitudinal guide rod (79), the tops of the two sliding blocks (78) are respectively fixedly connected to two wheel frames (712) via bent frames (711), the two wheel frames (712) are rotatably connected to clamping vertical wheels (714) via vertical wheel shafts (713), the two clamping vertical wheels (714) are located above the top of the upper U-shaped seat (1), and annular grooves are respectively provided in the middle of the outer circumference of the two clamping vertical wheels (714).
6. The composite clamping device used by the cable inspection robot according to claim 5, characterized in that: The opposite adjustment assembly comprises a bent rod (71), an end plate (72), a clamping motor (73), a longitudinal slide rod (74) and a bidirectional screw rod (75). End plates (72) are respectively provided at the front and rear of the middle part of the upper U-shaped seat (1). The end plates (72) are fixed to the upper U-shaped seat (1) through the bent rod (71). A longitudinal slide rod (74) is fixedly connected between the two end plates (72). A bidirectional screw rod (75) is rotatably connected between the two end plates (72). The threads at both ends of the bidirectional screw rod (75) are in opposite directions. The front end of the bidirectional screw rod (75) is fixedly connected to the output shaft of the clamping motor (73). The clamping motor (73) is fixed to the front end plate (72). The front and rear ends of the bidirectional screw rod (75) are respectively threadedly connected to the threaded holes on the two movable blocks (76). The longitudinal slide rod (74) is respectively slidably connected to the slide holes on the two movable blocks (76).
7. The composite clamping device used by the cable inspection robot according to claim 1, characterized in that: It also includes an anti-line-off mechanism (8), and the front and rear sides of each upper roller (38) are respectively equipped with an anti-line-off mechanism (8).
8. The composite clamping device used by the cable inspection robot according to claim 7, characterized in that: The anti-stripping mechanism (8) comprises a screw (81), a fixing ring (82) and an anti-stripping lever (83); the front and rear sides of the upper roller (38) are fixedly connected to the fixing ring (82) via the screw (81), the fixing ring (82) is coaxially arranged with the upper roller (38), and no less than six anti-stripping levers (83) are arranged in an annular array on the outer circumference of the fixing ring (82).
9. Cable inspection robot, characterized by: It comprises a composite clamping device used by a cable inspection robot as described in any one of claims 1 to 8.
10. The cable inspection robot according to claim 9, characterized in that: It also includes a device installation component (9), and the front side of the lower U-shaped seat (56) in the clamping and installing lifting mechanism (5) is detachably provided with the device installation component (9).