A robotic chassis that can climb different diameters and complex cable nets

Abstract

The application relates to a robot chassis capable of climbing steel cable nets with different diameters and complexities, which 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, the cable climbing mechanism comprises a clamping assembly, a driving assembly and an extension assembly, the extension assembly is arranged on the clamping jaw of the clamping assembly, the steering mechanism comprises a pitch shaft torque motor and a yaw shaft speed reduction motor, the driving assembly comprises a shaft fixing seat, a plumb light shaft, a first spring, a U-shaped support, a linear bearing, a friction wheel and a speed reduction motor, the two ends of the first spring are respectively in contact with the shaft fixing seat and the U-shaped support, the plumb light shaft is arranged between the shaft fixing seat and an L-shaped shaft fixing seat, the plumb light shaft is used for ensuring that the whole driving assembly moves linearly in the plumb direction, the linear bearing slides on the plumb light shaft, and the U-shaped support is fixedly connected with the linear bearing. Compared with the prior art, the application can adapt to complex steel cable nets and can adapt to steel cables with multiple diameters.

Description

Technical Field

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

[0002] Background Technology of Cable-Climbing Inspection Robot for Curtain Walls: With the acceleration of urbanization and the increasing number of high-rise buildings, the maintenance and safety inspection of building facades have become increasingly important. Traditional curtain wall inspection usually relies on manual climbing or the use of suspended platforms, which is not only time-consuming and labor-intensive but also poses significant safety hazards. Workers face multiple risks such as falls and inclement weather when working at heights. Therefore, there is a need for a cable-climbing robot that can autonomously move on the exterior of buildings through automation technology to perform comprehensive inspection work. This can greatly improve work efficiency while ensuring worker safety. In addition, the cable-climbing inspection robot for curtain walls also has good adaptability. Considering the characteristics of different building structures, since curtain wall cables have various different structures, such as single-layer suspension structures, double-layer suspension structures, and bidirectional orthogonal cable net structures, the cable-climbing robot must be able to adapt to these complex cable net structures and work stably in complex environments. At the same time, the cable-climbing robot should also be widely applicable to the inspection of other high-altitude structures such as bridges and towers.

[0003] Patent CN201820319492.4 provides a cable climbing tool. The U-shaped board body has a first arc-shaped limiting groove and a second arc-shaped limiting groove for limiting the cable. An edge plate is provided at the edge of the U-shaped board body, opposite to the first arc-shaped limiting groove. A curved plate is hinged to the edge plate via a first pin. One end of the curved plate inside the U-shaped board body has a downward-curving locking end, and a self-locking pin is fixed to the locking end. The other end of the curved plate is hinged to a connecting rod via a second pin. The other end of the connecting rod is hinged to the middle of a base plate via a third pin. One end of the base plate is hinged to the U-shaped board body via a fourth pin, and a foot pedal structure is fixed to the other end of the base plate. However, this structure cannot enable turning movements in complex cable nets and cannot overcome obstacles.

[0004] In short, there is a need to invent a chassis for a cable-climbing robot that can overcome obstacles and navigate through various complex cable nets. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robot chassis that can climb complex cable nets of different diameters, adapt to complex cable nets, and adapt to cables of multiple diameters.

[0006] The present invention provides a robot chassis capable of climbing cable nets of different diameters and complex structures, including multiple cable climbing mechanisms and multiple two-degree-of-freedom steering mechanisms. The steering mechanisms are located above the cable climbing mechanisms. Each cable climbing mechanism includes a clamping assembly, a driving assembly, and a telescopic assembly.

[0007] The telescopic component is disposed on the gripper of the clamping component;

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

[0009] The drive assembly includes: a shaft fixing seat, a plumb bob shaft, a first spring, a U-shaped support, a linear bearing, a friction wheel, and a reduction motor; the reduction motor is mounted on the U-shaped support; the first spring is preloaded and installed between the shaft fixing seat and the U-shaped support; the reduction motor drives the friction wheel to rotate; both ends of the first spring are in contact with the shaft fixing seat and the U-shaped support respectively; the plumb bob shaft is located between the shaft fixing seat and the L-shaped shaft fixing seat; the plumb bob shaft is used to ensure that the entire drive assembly moves linearly in the plumb direction;

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

[0011] Furthermore, the clamping assembly includes: a sheet metal module, a drive motor, grippers, gears, a first gear connecting rod, and a second gear connecting rod; the drive motor rotates, thereby driving the gears to rotate, the gears meshing with the teeth of the first gear connecting rod, and the teeth of the first gear connecting rod meshing with the teeth of the second gear connecting rod; the first gear connecting rod and the second gear connecting rod are both located between the sheet metal module and the grippers; the gears are located 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 links connected to the gripper to limit the movement of the gripper and prevent the gripper from rotating too much and failing to engage with the steel cable.

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

[0014] Furthermore, the steering mechanism includes: a chassis, a support base, a pitch shaft torque motor, a transfer base, a first flange bearing, a rotating shaft, a deep groove ball bearing, a yaw shaft geared motor, and a crossed roller bearing;

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

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

[0017] The adapter base and the support base are connected by crossed roller bearings to withstand 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 passes 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 to 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 to the telescopic block by a cylindrical pin to reduce friction during linear motion.

[0022] Furthermore, the telescopic block has a protruding limiting structure at its end. When the gripper is released, the second spring will rebound, and the telescopic block will move in the opposite direction. The movement will stop when the limiting structure at the end of the telescopic block contacts the gripper.

[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 held in place by the clamping assembly. This drives the motor to rotate, which in turn drives the gears to rotate. The gears mesh with the teeth of the first gear connecting rod, and the teeth of the first gear connecting rod mesh with the teeth of the second gear connecting rod. Therefore, the first gear connecting rod and the second gear connecting rod rotate together, thereby causing the two grippers to retract and clamp the steel cable.

[0026] To accommodate steel cables of different diameters and ensure they can be clamped during robot chassis movement, the clamping mechanism's grippers are equipped with telescopic components. When the grippers retract and tighten, the steel cable exerts a radial force on the rubber wheel, which is fixed to the telescopic block. The telescopic block, subjected to the radial force, compresses the second spring and moves linearly. A deep groove ball bearing is fixed to the telescopic block via a cylindrical pin to reduce friction during linear motion. When the grippers relax, the second spring rebounds, and the telescopic block moves in the opposite direction. The movement stops when the limit switch at the end of the telescopic block contacts the grippers.

[0027] The entire robot chassis is powered by a drive assembly. A geared motor is mounted on the U-shaped support, which drives the friction wheel to rotate. To provide greater friction, the surface of the friction wheel is U-shaped, increasing the contact area with the steel cable. The friction wheel is made of polyurethane. To increase the pressure between the steel cable and the friction wheel, and to accommodate steel cables of different diameters, the U-shaped support is subjected to the elastic force of the first spring above. To ensure that the entire drive assembly moves linearly in the plumb line direction, a plumb line is fixed between the shaft fixing seat and the L-shaped shaft fixing seat. Simultaneously, two linear bearings move on the plumb line, and the U-shaped support is fixedly connected to the linear bearings, moving together with them.

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

[0029] (1) It can adapt to complex cable nets. Through the coordinated control of a two-degree-of-freedom steering mechanism (orthogonal drive of yaw axis + pitch axis) 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 interwoven cable nets is solved.

[0030] The combined drive method of torque motor and geared motor not only meets the requirements of high torque steering (supported by cross roller bearings) but also achieves high-precision angle positioning (precision motor selection), breaking through the angle limitations of traditional single-degree-of-freedom steering mechanisms.

[0031] (2) Adaptable to multiple diameter steel cables. The composite drive structure of spring preload, optical axis guide, and U-shaped friction wheel enables adaptability to multiple diameter steel cables. The first spring preload design generates a constant positive pressure on the friction wheel, ensuring the adaptability of friction force under different diameter steel cables; the linear motion pair formed by the plumb optical axis and 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. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the robot chassis of the present invention, which can climb steel cable nets of different diameters and complex structures.

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

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

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

[0036] Figure 5 This is a schematic diagram of the structure of the telescopic component of the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of the telescopic component of the present invention disposed on the clamping component;

[0038] Figure 7 , Figure 8 , Figure 9 The robot chassis operates in three states: when two intersecting steel cables in the horizontal plane form right angles, acute angles, and obtuse angles, respectively.

[0039] Figure 10 , Figure 11 , Figure 12 The robot chassis operates in three states: when the two intersecting steel cables within the plumb plane are at right angles, acute angles, and obtuse angles, respectively.

[0040] Reference numerals: 1-Clamping assembly; 2-Steering mechanism; 3-Drive assembly; 4-Telescopic assembly; 101-Fixed connecting rod sheet metal; 102-Fixed motor sheet metal; 103-Drive motor; 104-Gripper; 105-Driven connecting rod; 106-Gear; 107-First gear connecting rod; 108-Second gear connecting rod; 109-Fixed optical axis; 201-Chassis; 202-Support base; 203-Pitch shaft torque motor; 204-Adapter base; 205-First flange bearing; 206-Rotor Driven shaft; 207-Deep groove ball bearing; 208-Yaw shaft geared motor; 209-Cross roller bearing; 301-Shaft fixing seat; 302-Plumb bob shaft; 303-First spring; 304-U-shaped support; 305-Linear bearing; 306-L-shaped shaft fixing seat; 307-Second flange bearing; 308-Horizontal shaft shaft; 309-Friction wheel; 310-Geared motor; 401-Telescopic block; 402-Deep groove ball bearing; 403-Cylindrical pin; 404-Second spring; 405-Rubber wheel. Detailed Implementation

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

[0042] Example 1

[0043] This embodiment provides a robot chassis capable of climbing complex steel cable nets of varying diameters, such as... Figure 1 As shown, it includes three climbing cable mechanisms and three two-degree-of-freedom steering mechanisms 2. The steering mechanisms 2 are located above the climbing cable mechanisms. The climbing cable mechanism includes: a clamping assembly 1, a driving assembly 3, and a telescopic assembly 4.

[0044] like Figure 2 The telescopic component 4 is disposed on the gripper 104 of the clamping component 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 drive the pitch axis; the yaw axis reduction motor 208 is used to drive the yaw axis.

[0046] like Figure 4 The drive assembly 3 includes: a shaft fixing seat 301, a plumb bob shaft 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 mounted on the U-shaped support 304; the first spring 303 is pre-loaded between the shaft fixing seat 301 and the U-shaped support 304; the reduction motor 310 drives the friction wheel 309 to rotate; both ends of the first spring 303 are in contact with the shaft fixing seat 301 and the U-shaped support 304 respectively; the plumb bob shaft 302 is located between the shaft fixing seat 301 and the L-shaped shaft fixing seat 306; the plumb bob shaft 302 is used to ensure that the entire drive assembly 3 moves linearly in the plumb direction;

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

[0048] In a specific embodiment, the clamping assembly 1 includes: a sheet metal module, a drive motor 103, a gripper 104, a gear 106, a first gear connecting rod 107, and a second gear connecting rod 108; the drive motor 103 rotates, thereby driving the gear 106 to rotate, the gear 106 meshes with the teeth of the first gear connecting rod 107, and the first gear connecting rod 107 meshes with the teeth of the second gear connecting rod 108; the first gear connecting rod 107 and the second gear connecting rod 108 are both disposed between the sheet metal module and the gripper 104; the gear 106 is disposed 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 links 105, which are connected to the gripper 104 to limit the movement posture of the gripper 104 and prevent the gripper 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, which is used to connect two parallel grippers 104 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 base 202, a pitch shaft torque motor 203, a transition base 204, a first flange bearing 205, a rotating shaft 206, a deep groove ball bearing 207, a yaw shaft reduction motor 208, and a crossed roller bearing 209.

[0052] The pitch axis torque motor 203 is mounted on the support base 202; the rotating shaft 206 transmits 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 and the support base 202 are connected by a crossed roller bearing 209 to withstand axial force;

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

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

[0057] In specific implementations, such as Figure 5 , 6 The telescopic component 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 embodiment, a deep groove ball bearing 402 is fixed on the telescopic block 401 by a cylindrical pin 403 to reduce friction during linear motion.

[0059] In a specific embodiment, the telescopic block 401 has a protruding limiting structure at its end. When the gripper 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 limiting structure at the end of the telescopic block 401 contacts the gripper 104.

[0060] In a specific embodiment, 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. The drive motor 103 rotates, which drives the gear 106 to rotate. The gear 106 meshes with the teeth of the first gear link 107, and the teeth of the first gear link 107 mesh with the teeth of the second gear link 108. Therefore, the first gear link 107 and the second gear link 108 rotate together, thereby driving the two grippers 104 to retract and clamp the steel cable.

[0063] To accommodate steel cables of different diameters and ensure that the steel cables can be clamped during robot chassis movement, the clamping mechanism 1 has a telescopic component 4 mounted on the gripper 104. When the gripper 104 retracts and clamps, the steel cable exerts a radial force on the rubber wheel 405. The rubber wheel 405 is fixed to the telescopic block 401. After being subjected to the radial force, the telescopic block 401 compresses the second spring 404 and moves linearly. A deep groove ball bearing 402 is fixed to the telescopic block 401 by a cylindrical pin 403 to reduce friction during linear movement. When the gripper 104 relaxes, the second spring 404 rebounds, and the telescopic block 401 moves in the opposite direction. The movement stops when the limit at the end of the telescopic block 401 contacts the gripper 104.

[0064] The movement of the entire robot chassis is powered by the drive assembly 3. A geared motor 310 is mounted on the U-shaped support 304, which drives the friction wheel 309 to rotate. To provide greater friction, the surface of the friction wheel 309 is a U-shaped arc, increasing the contact area with the steel cable. The friction wheel 309 is made of polyurethane. To increase the pressure between the steel cable and the friction wheel, and to accommodate steel cables of different diameters, the U-shaped support 304 is subjected to the elastic force of the first spring 303 above it. To ensure that the entire drive assembly 3 moves linearly in the plumb line direction, a plumb line shaft 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 line shaft 302. The U-shaped support 304 is fixedly connected to the linear bearings 305, and the U-shaped support 304 moves together with the linear bearings 305.

[0065] The working process of a robot turning:

[0066] Since the cable nets used in building curtain walls are typically complex interwoven cable net structures, a cable-climbing robot is needed to switch between two intersecting cables. This robot chassis can switch between two intersecting cable nets at any angle. The following describes the robot chassis's operation when the two intersecting cable nets are in the same horizontal and vertical plane. The operation process for interwoven cable nets at other angles is similar to that in the horizontal and vertical planes.

[0067] like Figure 7 The two intertwined steel cables are at a 90-degree angle to each other on the horizontal plane. The working state of the robot chassis switching between the two steel cables is as follows:

[0068] When the robot chassis moves to the intersection of the two steel cables, the drive motor 103 of the foremost clamping assembly 1 receives a control signal and rotates, thereby driving the gear 106, the first gear connecting rod 107, and the second gear connecting rod 108 to rotate. Therefore, the foremost clamping assembly 1 loosens the steel cable, while the other two clamping mechanisms remain clamped. Next, the yaw axis reduction motor 208 of the steering mechanism 2 rotates, causing the clamping mechanism 1 to rotate 90 degrees. Simultaneously, the friction wheels 309 of the reduction motors 310 of the two subsequent drive assemblies 3 move the entire robot chassis, aligning the foremost clamping assembly 1 with the other steel cable. After alignment, the foremost clamping assembly 1 clamps the other steel cable. Next, the middle clamping assembly 1 loosens the steel cable, and the reduction motors 310 of the front and rear drive assemblies 3 rotate simultaneously, turning 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 robot chassis's turning, allowing it to continue moving on the other steel cable.

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

[0070] like Figure 10 The two intertwined steel cables are at a 90-degree angle to the plumb line. The robot chassis moves between the two steel cables in the following working state:

[0071] When the robot chassis moves to the intersection of the two steel cables, the drive motor 103 of the foremost clamping assembly 1 receives a control signal and rotates, thereby driving the gear 106, the first gear linkage 107, and the second gear linkage 108 to rotate. Therefore, the foremost clamping assembly 1 loosens the steel cable, while the other two clamping mechanisms remain clamped. Next, the pitch axis torque motor 203 of the steering mechanism 2 rotates, causing the clamping mechanism 1 to rotate 90 degrees. Simultaneously, the friction wheels 309 of the reduction motors 310 of the two subsequent drive assemblies 3 move the entire robot chassis, aligning the foremost clamping assembly 1 with the other steel cable. After alignment, the foremost clamping mechanism 1 clamps the other steel cable. Then, the middle clamping assembly 1 loosens the steel cable, and the reduction motors 310 of the front and rear drive assemblies 3 rotate simultaneously, turning 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 robot chassis's turning, allowing it to continue moving on the other steel cable.

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

[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 provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any 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 invention should be within the protection scope of the present invention.

Claims

1. A robot chassis capable of climbing steel cable nets of varying diameters and complex structures, characterized in that, It includes multiple climbing cable mechanisms and multiple turning mechanisms (2), the turning mechanisms (2) being located above the climbing cable mechanisms. The climbing cable mechanism includes: a clamping assembly (1), a driving assembly (3), and a telescopic assembly (4). The telescopic component (4) is disposed on the jaw (104) of the clamping component (1); 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; The drive assembly (3) includes: a shaft fixing seat (301), a plumb bob shaft (302), a first spring (303), a U-shaped support (304), a linear bearing (305), a friction wheel (309), and a geared motor (310); the geared motor (310) is mounted on the U-shaped support (304); the first spring (303) is pre-pressed between the shaft fixing seat (301) and the U-shaped support (304); the geared motor (310) drives the friction wheel (309) to rotate; the two ends of the first spring (303) are in contact with the shaft fixing seat (301) and the U-shaped support (304) respectively; the plumb bob shaft (302) is located between the shaft fixing seat (301) and the L-shaped shaft fixing seat (306); the linear bearing (305) slides on the plumb bob shaft (302), and the U-shaped support (304) is fixedly connected to the linear bearing (305).

2. The robot chassis capable of climbing complex cable nets of different diameters according to claim 1, characterized in that, The clamping assembly (1) includes: a sheet metal module, a drive motor (103), a gripper (104), a gear (106), a first gear connecting rod (107), and a second gear connecting rod (108); the drive motor (103) rotates, thereby driving the gear (106) to rotate, the gear (106) meshes with the teeth of the first gear connecting rod (107), and the first gear connecting rod (107) meshes with the teeth of the second gear connecting rod (108); the first gear connecting rod (107) and the second gear connecting rod (108) are both located between the sheet metal module and the gripper (104); the gear (106) is located on the sheet metal module.

3. The robot chassis capable of climbing complex cable nets of different diameters according to claim 2, characterized in that, The clamping assembly (1) also includes two driven links (105), which are connected to the gripper (104) to limit the movement posture of the gripper (104) and prevent the gripper (104) from rotating too much and failing to engage with the steel cable.

4. The robot chassis capable of climbing complex cable nets of different diameters 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 grippers (104) to fix the two clamping assemblies (1) and prevent the clamping assembly (1) from tipping over when the robot moves.

5. The robot chassis capable of climbing complex cable nets of different diameters according to claim 1, characterized in that, The steering mechanism (2) includes: chassis (201), support base (202), pitch shaft torque motor (203), adapter base (204), first flange bearing (205), rotating shaft (206), deep groove ball bearing (207), yaw shaft geared motor (208), and crossed roller bearing (209). The pitch axis torque motor (203) is mounted on the support base (202); the rotating shaft (206) transmits torque; The yaw axis geared motor (208) is fixed on the support base (202), and the output end of the yaw axis geared motor (208) is connected to the adapter base (204); The adapter base (204) and the support base (202) are connected by a crossed roller bearing (209) to withstand axial force; The first flange bearing (205) bears the radial load.

6. The robot chassis capable of climbing complex cable nets of different diameters according to claim 1, characterized in that, The drive assembly (3) further includes: an L-shaped shaft fixing seat (306), a second flange bearing (307), and a horizontal optical shaft (308); the horizontal optical shaft (308) is mounted on the U-shaped support (304) and the friction wheel (309), and the horizontal optical shaft (308) is radially positioned by the second flange bearing (307); the L-shaped shaft fixing seat (306) is used to fix the plumb bob optical shaft (302).

7. The robot chassis capable of climbing complex cable nets of different diameters according to claim 1, characterized in that, 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.

8. A robot chassis capable of climbing complex cable nets of different diameters according to claim 7, characterized in that, A deep groove ball bearing (402) is fixed on the telescopic block (401) by a cylindrical pin (403) to reduce friction during linear motion.

9. A robot chassis capable of climbing complex cable nets of different diameters according to claim 7, characterized in that, The telescopic block (401) has a protruding limiting structure at its end. When the gripper (104) is relaxed, the second spring (404) will rebound, and the telescopic block (401) will move in the opposite direction. The movement will stop when the limiting structure at the end of the telescopic block (401) contacts the gripper (104).

10. A robot chassis capable of climbing complex 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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