Robot chassis capable of climbing complex steel cable nets with different diameters

Abstract

The invention relates to a robot chassis capable of climbing complex steel cable nets with different diameters, the robot chassis comprises a plurality of cable climbing mechanisms and a plurality of two-degree-of-freedom steering mechanisms, the steering mechanisms are arranged above the cable climbing mechanisms, and each cable climbing mechanism comprises a clamping assembly, a driving assembly and a telescopic assembly; the telescopic assembly is arranged on a clamping jaw of the clamping assembly; the steering mechanism comprises a pitch shaft torque motor and a yaw shaft speed reducing motor; the driving assembly comprises a shaft fixing base, a plumb bob polished shaft, a first spring, a U-shaped support, a linear bearing, a friction wheel and a gear motor. The two ends of the first spring make contact with the shaft fixing base and the U-shaped support correspondingly. The plumb bob optical shaft is arranged between the shaft fixing seat and the L-shaped shaft fixing seat; the plumb bob optical axis is used for ensuring that the whole driving assembly does linear motion in the plumb bob direction; the linear bearing slides on the plumb bob optical axis, and the U-shaped support is fixedly connected with the linear bearing. Compared with the prior art, the device can adapt to complex steel cable nets and can adapt to multi-diameter steel cables.

Description

Technical Field

[0001] The invention relates to the technical field of automated robot equipment, and in particular to a robot chassis capable of climbing complex steel cable nets of different diameters. Background Art

[0002] Background technology of curtain wall cable climbing detection robot With the acceleration of urbanization and the continuous increase of high-rise buildings, the maintenance and safety inspection of the facade of buildings have become increasingly important. Traditional curtain wall inspection usually relies on manual climbing or the use of hanging baskets, which is not only time-consuming and labor-intensive, but also has great safety hazards. When workers work at high altitudes, they face multiple risks such as falling and bad weather. Therefore, a climbing robot is needed that can move autonomously on the facade of the building through automation technology to carry out comprehensive inspection work. It can greatly improve work efficiency and ensure the safety of workers. In addition, the curtain wall cable climbing detection robot also has good adaptability. Taking into account the characteristics of different building structures, since curtain wall cables have a variety of different structures, such as single-layer suspension cable structure, double-layer suspension cable structure, bidirectional orthogonal cable net structure, etc., the climbing robot must be able to adapt to these complex cable net structures and be able to work stably in complex environments. At the same time, the climbing robot should also be widely used in the inspection of other high-altitude structures such as bridges and towers.

[0003] Patent CN201820319492.4 provides a steel cable climbing tool, wherein a first arc-shaped limiting groove and a second arc-shaped limiting groove for limiting the steel cable are provided on the U-shaped plate body; a corner plate is provided at the edge of the U-shaped plate body and at a position opposite to the first arc-shaped limiting groove, and a curved plate is hinged on the corner plate through a first pin shaft, and a downwardly bent locking end is provided at one end of the curved plate located inside the U-shaped plate body, and a self-locking pin shaft is fixed on the locking end, and a connecting rod is hinged on the other end of the curved plate through a second pin shaft, and the other end of the connecting rod is hinged to the middle part of the bottom plate through a third pin shaft, and one end of the bottom plate is hinged on the U-shaped plate body through a fourth pin shaft, and a pedal structure is fixed on the other end of the bottom plate. However, this structure cannot realize the turning action in a complex steel cable net and cannot cross obstacles.

[0004] In short, it is necessary to invent a cable-climbing robot chassis that can overcome obstacles and pass through different complex cable networks. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a robot chassis that can climb wire rope nets of different diameters and complex wire ropes, which can adapt to complex wire rope nets and wire ropes with multiple diameters.

[0006] The present invention provides a robot chassis capable of climbing wire rope nets of different diameters and complexity, comprising a plurality of wire climbing mechanisms and a plurality of two-degree-of-freedom steering mechanisms, wherein the steering mechanisms are arranged above the wire climbing mechanisms, and the wire climbing mechanisms comprise: a clamping assembly, a driving assembly, and a telescopic assembly;

[0007] The telescopic assembly is arranged on the clamping claw of the clamping assembly;

[0008] The steering mechanism includes: a pitch axis torque motor and a yaw axis reduction motor; the pitch axis torque motor is used to realize pitch axis drive; the yaw axis reduction motor is used to realize yaw axis drive;

[0009] The driving assembly comprises: an axis fixing seat, a plumb axis, a first spring, a U-shaped support, a linear bearing, a friction wheel, and a reduction motor; the reduction motor is installed on the U-shaped support; the first spring is pre-compressed and installed between the axis fixing seat and the U-shaped support; the reduction motor drives the friction wheel to rotate; the two ends of the first spring are respectively in contact with the axis fixing seat and the U-shaped support; the plumb axis is arranged between the axis fixing seat and the L-shaped axis fixing seat; the plumb axis is used to ensure that the entire driving assembly performs linear motion in the plumb direction;

[0010] The linear bearing slides on the plumb axis, and the U-shaped support is fixedly connected to the linear bearing. The U-shaped support moves with the linear bearing.

[0011] Furthermore, the clamping assembly includes: a sheet metal module, a drive motor, a clamp, a gear, a first gear connecting rod, and a second gear connecting rod; the drive motor rotates to drive the gear to rotate, the gear and the first gear connecting rod's teeth are meshed with each other, and the first gear connecting rod and the second gear connecting rod's teeth are meshed with each other; the first gear connecting rod and the second gear connecting rod are both arranged between the sheet metal module and the clamp; the gear is arranged on the sheet metal module; the sheet metal module includes: a fixed connecting rod sheet metal and a fixed motor sheet metal.

[0012] Furthermore, the clamping assembly also includes two driven connecting rods, which are arranged between the clamping jaws and are used to limit the movement posture of the clamping jaws to prevent the clamping jaws from rotating at too large an angle and being unable to engage with the steel cable.

[0013] Furthermore, the clamping assembly also includes a fixed optical axis, which is used to connect two parallel clamping jaws to fix the two clamping assemblies and prevent the clamping assembly from overturning when the robot moves.

[0014] Further, the steering mechanism includes: a chassis, a support seat, a pitch axis torque motor, an adapter base, a first flange bearing, a rotating shaft, a deep groove ball bearing, a yaw axis reduction motor, and a cross roller bearing;

[0015] The pitch shaft torque motor is mounted on a support base; the rotating shaft transmits torque;

[0016] The yaw axis reduction motor is fixed on the support base, and the output end of the yaw axis reduction motor is connected to the adapter base;

[0017] The transfer base and the support seat are connected through a cross roller bearing to bear the axial force;

[0018] The first flange bearing bears the radial load.

[0019] Furthermore, the drive assembly also includes: an L-shaped shaft fixing seat, a second flange bearing, and a horizontal optical axis; the horizontal optical axis is passed through the U-shaped support and the friction wheel, and the horizontal optical axis is radially positioned by the second flange bearing; the L-shaped shaft fixing seat is used to fix the plumb bob optical axis.

[0020] Furthermore, the telescopic assembly includes: a telescopic block, a second spring, and a rubber wheel; the rubber wheel is fixed on the telescopic block, and the telescopic block can compress the second spring after being subjected to radial force.

[0021] Furthermore, a deep groove ball bearing is fixed on the telescopic block via a cylindrical pin to reduce friction during linear motion.

[0022] Furthermore, a protruding limit structure is provided at the end of the telescopic block. When the clamp is relaxed, the second spring rebounds and the telescopic block moves in the opposite direction. The movement stops when the limit at the end of the telescopic block contacts the clamp.

[0023] Furthermore, the surface of the friction wheel is a U-shaped arc surface.

[0024] Working principle:

[0025] When in use, the robot chassis is placed on the steel cable, and the steel cable is clamped by the clamping assembly, that is, the driving motor rotates, driving the gear to rotate, the gear and the first gear connecting rod's teeth are meshed with each other, and the first gear connecting rod and the second gear connecting rod's teeth are meshed with each other, so the first gear connecting rod and the second gear connecting rod rotate together, thereby driving the two clamping claws to contract and then clamp the steel cable.

[0026] In order to adapt to steel cables of different diameters and enable the robot chassis to clamp the steel cables when it moves, a telescopic component is installed on the clamping jaws of the clamping mechanism. When the clamping jaws shrink and tighten, the steel cable will give a radial force to the rubber wheel. The rubber wheel is fixed on the telescopic block. After the telescopic block is subjected to the radial force, the second spring is compressed and linear motion is performed. A deep groove ball bearing is fixed on the telescopic block by a cylindrical pin to reduce friction during linear motion. When the clamping jaws are relaxed, the second spring will rebound and the telescopic block will move in the opposite direction. The movement stops when the limit at the end of the telescopic block contacts the clamping jaws.

[0027] The movement of the entire robot chassis is powered by the drive assembly. A reduction motor is installed on the U-shaped support, which drives the friction wheel to rotate. In order to provide greater friction, the surface of the friction wheel is a U-shaped arc surface, which increases the contact area with the steel cable. The material of the friction wheel is polyurethane. In order to increase the pressure between the steel cable and the friction wheel, and to adapt it to steel cables of different diameters, the U-shaped support will be subject to the elastic force of the first spring above. In order to ensure that the entire drive assembly moves linearly in the plumb direction, a plumb optical axis is fixed between the shaft fixing seat and the L-shaped shaft fixing seat. At the same time, two linear bearings move on the plumb optical axis, and the U-shaped support is fixedly connected to the linear bearings, and the U-shaped support moves with the linear bearings.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] (1) Ability to adapt to complex cable nets. Through the coordinated control of the two-degree-of-freedom steering mechanism (yaw axis + pitch axis orthogonal drive) and multiple sets of independent clamping components, the technical problem that traditional cable-climbing robots cannot autonomously turn in complex three-dimensional spaces such as bidirectional orthogonal cable nets and acute / obtuse angle interlaced cable nets is solved.

[0030] The combined drive mode of torque motor and reduction motor is adopted, which not only meets the demand for large torque steering (cross roller bearing support), but also realizes high-precision angle positioning (precision motor selection), breaking through the angle limitation of traditional single-degree-of-freedom steering mechanism.

[0031] (2) Able to adapt to multiple diameter cables. The composite drive structure of spring preload, optical axis guide, and U-shaped friction wheel realizes the adaptability of multiple diameter cables. The first spring preload design enables the friction wheel to generate constant positive pressure, ensuring the adaptability of friction force under different diameter cables; the linear motion pair composed of the plumb optical axis and the linear bearing ensures the motion stability of the drive component when the diameter changes; the polyurethane friction wheel with a U-shaped arc surface increases the contact area. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the robot chassis of the present invention that can climb wire rope nets of different diameters and complexity;

[0033] Figure 2 It is a schematic diagram of the structure of the clamping assembly of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the steering mechanism of the present invention;

[0035] Figure 4 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0036] Figure 5 It is a schematic diagram of the structure in which the telescopic assembly of the present invention is arranged on the clamping assembly;

[0037] Figure 6 It is a structural schematic diagram of the telescopic assembly of the present invention;

[0038] Figure 7 , Figure 8 , Fig. 9 It is divided into working states when the two intersecting steel cables of the robot chassis in the horizontal plane are at right angles, acute angles, and obtuse angles respectively;

[0039] Fig.10 , Fig.11 , Fig.12 It is divided into working states when the two intersecting steel cables of the robot chassis in the plumb plane are at right angles, acute angles, and obtuse angles respectively;

[0040] Figure numerals: 1-clamping assembly; 2-steering mechanism; 3-driving assembly; 4-telescopic assembly; 101-fixed connecting rod sheet metal; 102-fixed motor sheet metal; 103-driving motor; 104-clamping claw; 105-driven connecting rod; 106-gear; 107-first gear connecting rod; 108-second gear connecting rod; 109-fixed optical axis; 201-chassis; 202-support seat; 203-pitch shaft torque motor; 204-adapter base; 205-first flange bearing; 206-rotating Moving shaft; 207-deep groove ball bearing; 208-yaw shaft reduction motor; 209-cross roller bearing; 301-shaft fixing seat; 302-plumb optical axis; 303-first spring; 304-U-type support; 305-linear bearing; 306-L-type shaft fixing seat; 307-second flange bearing; 308-horizontal optical axis; 309-friction wheel; 310-reduction motor; 401-telescopic block; 402-deep groove ball bearing; 403-cylindrical pin; 404-second spring; 405-rubber wheel. DETAILED DESCRIPTION

[0041] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms and other features not clearly described in this technical solution are all considered to be common technical features disclosed in the prior art.

[0042] Example 1

[0043] This embodiment provides a robot chassis that can climb wire ropes of different diameters and complexity, such as Figure 1 As shown, it includes three climbing rope mechanisms and three two-degree-of-freedom steering mechanisms 2. The steering mechanism 2 is arranged above the climbing rope mechanism. The climbing rope mechanism includes: a clamping assembly 1, a driving assembly 3, and a telescopic assembly 4;

[0044] like Figure 2 , the telescopic assembly 4 is arranged on the clamping claw 104 of the clamping assembly 1;

[0045] like Figure 3 , the steering mechanism 2 includes: a pitch axis torque motor 203 and a yaw axis reduction motor 208; the pitch axis torque motor 203 is used to realize pitch axis drive; the yaw axis reduction motor 208 is used to realize yaw axis drive;

[0046] like Figure 4 The driving assembly 3 includes: an axis fixing seat 301, a plumb axis 302, a first spring 303, a U-shaped support 304, a linear bearing 305, a friction wheel 309, and a reduction motor 310; the reduction motor 310 is installed on the U-shaped support 304; the first spring 303 is pre-pressed between the axis fixing seat 301 and the U-shaped support 304; the reduction motor 310 drives the friction wheel 309 to rotate; the two ends of the first spring 303 are in contact with the axis fixing seat 301 and the U-shaped support 304 respectively; the plumb axis 302 is arranged between the axis fixing seat 301 and the L-shaped axis fixing seat 306; the plumb axis 302 is used to ensure that the entire driving assembly 3 performs linear motion in the plumb direction;

[0047] The linear bearing 305 slides on the plumb axis 302, and the U-shaped support 304 is fixedly connected to the linear bearing 305. The U-shaped support 304 moves with the linear bearing 305.

[0048] In a specific embodiment, the clamping assembly 1 includes: a sheet metal module, a drive motor 103, a clamp 104, a gear 106, a first gear connecting rod 107, and a second gear connecting rod 108; the drive motor 103 rotates to drive the gear 106 to rotate, the gear 106 and the first gear connecting rod 107 have their teeth meshed with each other, and the gear teeth of the first gear connecting rod 107 and the second gear connecting rod 108 have their teeth meshed with each other; the first gear connecting rod 107 and the second gear connecting rod 108 are both arranged between the sheet metal module and the clamp 104; the gear 106 is arranged on the sheet metal module; the sheet metal module includes: a fixed connecting rod sheet metal 101 and a fixed motor sheet metal 102.

[0049] In a specific embodiment, the clamping assembly 1 further includes two driven connecting rods 105, which are arranged between the clamping jaws 104 and are used to limit the movement posture of the clamping jaws 104 to prevent the clamping jaws 104 from rotating too much and failing to engage with the steel cable.

[0050] In a specific embodiment, the clamping assembly 1 further includes a fixed optical axis 109, and the fixed optical axis 109 is used to connect two parallel clamping jaws 104, and is used to fix the two clamping assemblies 1, and prevent the clamping assembly 1 from tipping over when the robot moves.

[0051] In a specific embodiment, the steering mechanism 2 includes: a chassis 201, a support seat 202, a pitch axis torque motor 203, an adapter base 204, a first flange bearing 205, a rotating shaft 206, a deep groove ball bearing 207, a yaw axis reduction motor 208, and a cross roller bearing 209;

[0052] The pitch axis torque motor 203 is mounted on the support base 202; the rotating shaft 206 transmits the torque;

[0053] The yaw axis reduction motor 208 is fixed on the support base 202, and the output end of the yaw axis reduction motor 208 is connected to the adapter base 204;

[0054] The adapter base 204 is connected to the support base 202 via a cross roller bearing 209 to bear the axial force;

[0055] The first flange bearing 205 bears the radial load.

[0056] In a specific implementation, the driving assembly 3 also includes: an L-shaped shaft fixing seat 306, a second flange bearing 307, and a horizontal optical axis 308; the horizontal optical axis 308 is passed through the U-shaped support 304 and the friction wheel 309, and the horizontal optical axis 308 is radially positioned by the second flange bearing 307; the L-shaped shaft fixing seat 306 is used to fix the plumb optical axis 302.

[0057] In a specific embodiment, Figure 5 , 6 The telescopic assembly 4 includes: a telescopic block 401, a second spring 404, and a rubber wheel 405; the rubber wheel 405 is fixed on the telescopic block 401, and the telescopic block 401 can compress the second spring 404 after being subjected to radial force.

[0058] In a specific implementation, a deep groove ball bearing 402 is fixed to the telescopic block 401 via a cylindrical pin 403 to reduce friction during linear motion.

[0059] In a specific embodiment, a protruding limit structure is provided at the end of the telescopic block 401. When the clamp 104 is relaxed, the second spring 404 will rebound and the telescopic block 401 will move in the opposite direction. When the limit at the end of the telescopic block 401 contacts the clamp 104, the movement stops.

[0060] In a specific implementation, the surface of the friction wheel 309 is a U-shaped arc surface.

[0061] Working principle:

[0062] When in use, the robot chassis is placed on the steel cable, and the steel cable is clamped by the clamping assembly 1, that is, the driving motor 103 rotates, driving the gear 106 to rotate, and the gear teeth of the gear 106 and the first gear connecting rod 107 are meshed with each other, and the gear teeth of the first gear connecting rod 107 and the second gear connecting rod 108 are meshed with each other, so the first gear connecting rod 107 and the second gear connecting rod 108 rotate together, thereby driving the two clamping jaws 104 to contract, and then clamping the steel cable.

[0063] In order to adapt to steel cables of different diameters and enable the robot chassis to clamp the steel cables when it moves, a telescopic component 4 is installed on the clamping jaw 104 of the clamping mechanism 1. When the clamping jaw 104 contracts and tightens, the steel cable will give a radial force to the rubber wheel 405. The rubber wheel 405 is fixed on the telescopic block 401. After the telescopic block 401 is subjected to the radial force, the second spring 404 is compressed and moves linearly. A deep groove ball bearing 402 is fixed on the telescopic block 401 through a cylindrical pin 403 to reduce friction during linear motion. When the clamping jaw 104 is relaxed, the second spring 404 will rebound, and the telescopic block 401 will move in the opposite direction. The movement stops when the limit at the end of the telescopic block 401 contacts the clamping jaw 104.

[0064] The movement of the entire robot chassis is powered by the drive assembly 3. A reduction motor 310 is installed on the U-shaped support 304. The reduction motor 310 drives the friction wheel 309 to rotate. In order to provide greater friction, the surface of the friction wheel 309 is a U-shaped arc surface, which increases the contact area with the steel cable. The material of the friction wheel 309 is polyurethane. In order to increase the pressure between the steel cable and the friction wheel, and to adapt it to steel cables of different diameters, the U-shaped support 304 will be subject to the elastic force of the first spring 303 above. In order to ensure that the entire drive assembly 3 moves linearly in the plumb direction, a plumb optical axis 302 is fixed between the shaft fixing seat 301 and the L-shaped shaft fixing seat 306. At the same time, two linear bearings 305 move on the plumb optical axis 302. The U-shaped support 304 is fixedly connected to the linear bearings 305, and the U-shaped support 304 moves with the linear bearings 305.

[0065] The working process of the robot when turning:

[0066] Since the curtain wall cable nets on current buildings are usually complex interwoven cable net structures, the cable climbing robot is required to switch and crawl on two intersecting cables. The robot chassis can switch between two intersecting cable nets at any angle. The following lists the working process of the robot chassis when the two intersecting cable nets are in the same horizontal and plumb planes. The working process of intersecting cable nets at other angles is similar to the horizontal and plumb planes.

[0067] like Figure 7 , the two interwoven cables are 90 degrees in the horizontal plane, and the working state of the robot chassis switching between the two cables is:

[0068] When the robot chassis moves to the intersection of the two steel cables, the drive motor 103 of the clamping assembly 1 at the front receives the control signal to rotate, thereby driving the gear 106, the first gear connecting rod 107 and the second gear connecting rod 108 to rotate, so that the clamping assembly 1 at the front loosens the steel cable, and the other two clamping mechanisms still hold the steel cable. Next, the yaw axis reduction motor 208 of the steering mechanism 2 rotates to drive the clamping mechanism 1 to rotate 90 degrees, and at the same time, the friction wheel 309 of the reduction motor 310 of the rear two drive assemblies 3 moves the entire robot chassis to align the clamping assembly 1 at the front with the other steel cable. After alignment, the clamping assembly 1 at the front clamps the other steel cable, and then the clamping assembly 1 in the middle loosens the steel cable, and the reduction motors 310 of the drive assemblies 3 at the front and rear rotate at the same time to turn the robot chassis. When the end clamping assembly 1 moves to the intersection of the two steel cables, the initial movement is repeated to complete the steering of the robot chassis and continue to move on the other steel cable.

[0069] Figure 8 , Fig. 9 The steering process of the robot chassis when the two intersecting steel cables in the horizontal plane are respectively at acute angles and obtuse angles is similar to the steering process at right angles, except that the rotation angle of the yaw axis reduction motor 208 is acute angle and obtuse angle when aligning with the other steel cable.

[0070] like Fig.10 , the two interwoven cables are at 90 degrees on the plumb line, and the robot chassis works in the following state when switching between the two cables:

[0071] When the robot chassis moves to the intersection of the two steel cables, the drive motor 103 of the clamping assembly 1 at the front receives the control signal to rotate, thereby driving the gear 106, the first gear connecting rod 107 and the second gear connecting rod 108 to rotate, so that the clamping assembly 1 at the front loosens the steel cable, and the other two clamping mechanisms still hold the steel cable. Next, the pitch axis torque motor 203 of the steering mechanism 2 rotates to drive the clamping mechanism 1 to rotate 90 degrees, and at the same time, the friction wheel 309 of the reduction motor 310 of the rear two drive assemblies 3 moves the entire robot chassis to align the clamping assembly 1 at the front with the other steel cable. After alignment, the clamping mechanism 1 at the front clamps the other steel cable, and then the clamping assembly 1 in the middle loosens the steel cable, and the reduction motors 310 of the front and rear drive assemblies 3 rotate at the same time to turn the robot chassis. When the end clamping assembly 1 moves to the intersection of the two steel cables, the initial movement is repeated to complete the steering of the robot chassis and continue to move on the other steel cable.

[0072] Fig.11 , Fig.12The steering process of the robot chassis when two intersecting steel cables in the plumb plane are respectively at acute angles and obtuse angles is similar to the steering process when at right angles, except that the rotation angle of the pitch axis torque motor (203) is acute angle and obtuse angle when aligning with the other steel cable.

[0073] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0074] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A robot chassis capable of climbing wire ropes of different diameters and complexity, characterized in that: It comprises a plurality of climbing rope mechanisms and a plurality of steering mechanisms (2), wherein the steering mechanisms (2) are arranged above the climbing rope mechanisms, and the climbing rope mechanisms comprise: a clamping assembly (1), a driving assembly (3), and a telescopic assembly (4); The telescopic assembly (4) is arranged on the clamping claw (104) of the clamping assembly (1); The steering mechanism (2) comprises: a pitch axis torque motor (203) and a yaw axis reduction motor (208); the pitch axis torque motor (203) is used to realize pitch axis driving; the yaw axis reduction motor (208) is used to realize yaw axis driving; The driving assembly (3) comprises: an axis fixing seat (301), a plumb axis (302), a first spring (303), a U-shaped support (304), a linear bearing (305), a friction wheel (309), and a reduction motor (310); the reduction motor (310) is installed on the U-shaped support (304); the first spring (303) is pre-pressed between the axis fixing seat (301) and the U-shaped support (304); the reduction motor (310) drives the friction wheel (309) to rotate; two ends of the first spring (303) are respectively in contact with the axis fixing seat (301) and the U-shaped support (304); the plumb axis (302) is arranged between the axis fixing seat (301) and the L-shaped axis fixing seat (306); the linear bearing (305) slides on the plumb axis (302), and the U-shaped support (304) is fixedly connected to the linear bearing (305).

2. A robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 1, characterized in that: The clamping assembly (1) comprises: a sheet metal module, a driving motor (103), a clamping jaw (104), a gear (106), a first gear connecting rod (107), and a second gear connecting rod (108); the driving motor (103) rotates to drive the gear (106) to rotate, the gear teeth of the gear (106) and the first gear connecting rod (107) are meshed with each other, and the gear teeth of the first gear connecting rod (107) and the second gear connecting rod (108) are meshed with each other; the first gear connecting rod (107) and the second gear connecting rod (108) are both arranged between the sheet metal module and the clamping jaw (104); the gear (106) is arranged on the sheet metal module.

3. The robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 2, characterized in that: The clamping assembly (1) further comprises two driven connecting rods (105), which are arranged between the clamping jaws (104) and are used to limit the movement posture of the clamping jaws (104) to prevent the clamping jaws (104) from rotating at too large an angle and being unable to engage with the steel cable.

4. The robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 2, characterized in that: The clamping assembly (1) also includes a fixed optical axis (109), which is used to connect two parallel clamping jaws (104) and to fix the two clamping assemblies (1), while preventing the clamping assembly (1) from tipping over when the robot moves.

5. The robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 1, characterized in that: The steering mechanism (2) comprises: a chassis (201), a support seat (202), a pitch axis torque motor (203), an adapter base (204), a first flange bearing (205), a rotating shaft (206), a deep groove ball bearing (207), a yaw axis reduction motor (208), and a cross roller bearing (209); The pitch axis torque motor (203) is mounted on the support seat (202); the rotating shaft (206) transmits torque; The yaw axis reduction motor (208) is fixed on the support base (202), and the output end of the yaw axis reduction motor (208) is connected to the adapter base (204); The adapter base (204) and the support base (202) are connected via a cross roller bearing (209) to bear the axial force; The first flange bearing (205) bears the radial load.

6. The robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 1, characterized in that: The driving assembly (3) further comprises: an L-shaped shaft fixing seat (306), a second flange bearing (307), and a horizontal optical axis (308); the horizontal optical axis (308) is passed through the U-shaped support (304) and the friction wheel (309), and the horizontal optical axis (308) is radially positioned by the second flange bearing (307); the L-shaped shaft fixing seat (306) is used to fix the plumb optical axis (302).

7. The robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 1, characterized in that: The telescopic assembly (4) comprises: a telescopic block (401), a second spring (404), and a rubber wheel (405); the rubber wheel (405) is fixed on the telescopic block (401), and the telescopic block (401) can compress the second spring (404) after being subjected to a radial force.

8. The robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 7, characterized in that: A deep groove ball bearing (402) is fixed to the telescopic block (401) via a cylindrical pin (403) to reduce friction during linear motion.

9. The robot chassis capable of climbing wire ropes of different diameters and complexity according to claim 7, characterized in that: The end of the telescopic block (401) is provided with a protruding limit structure. When the clamping jaw (104) is relaxed, the second spring (404) rebounds and the telescopic block (401) moves in the opposite direction. When the limit at the end of the telescopic block (401) contacts the clamping jaw (104), the movement stops.

10. The robot chassis capable of climbing complex steel cable nets of different diameters according to claim 1, characterized in that: The surface of the friction wheel (309) is a U-shaped arc surface.

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