Asynchronous rotating obstacle-crossing climbing inspection robot and using method

Abstract

The invention provides an asynchronous rotating obstacle crossing climbing inspection robot and a using method. The robot comprises a mounting frame, a rack unit, a connection control assembly and a driving assembly. The mounting rack is of an annular structure formed by connecting a plurality of rack units through connecting pieces, and each rack unit comprises an inner rack and an outer rack which can move inwards and outwards. The connection control assembly is used to disconnect and reconnect the adjacent gantry units when crossing the obstacle. The driving assembly comprises a shaft diameter adjusting mechanism and a driving mechanism and is used for adjusting the contact tightness degree of the robot and the cable and driving the robot to move along the cable. According to the robot, through the collaborative design of an innovative asynchronous rotation driving mechanism and a modular driving assembly, complete decoupling of axial climbing and circumferential obstacle crossing actions is achieved, the robot can dynamically adapt to rod piece diameter sudden change and complex surface topography, motion interference is avoided, and the climbing stability and the obstacle crossing efficiency are improved. Meanwhile, the fully-autonomous climbing and remote control technology is adopted, so that the accident risk is reduced, and the service life prediction and maintenance of the structure are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and specifically refers to an asynchronous rotary obstacle-crossing climbing inspection robot and a usage method thereof. Background Art

[0002] In the daily maintenance of large-scale engineering structures such as bridge cables, crane booms, and wind power tower barrels, manual climbing inspections pose significant safety risks such as high-altitude falls, electric shocks, and structural collapses. Traditional inspection robots generally adopt a synchronous drive wheel set structure, which can achieve basic climbing functions, but have significant defects when dealing with sudden changes in the diameter of the rod, surface attachments (such as damaged cladding, welding protrusions), and complex obstacles (such as cable clamps, flange plates). To improve the adaptability of climbing inspection robots to working conditions and their intelligent level, it is urgent to solve problems such as the narrow diameter adaptation range of the clamping mechanism, easy slipping and overturning in the variable diameter section, strong motion coupling of each wheel set in the synchronous drive mode, high overall stagnation rate when encountering obstacles, low efficiency of manual intervention for resetting, and low integration degree of the detection module, which cannot synchronously complete multi-dimensional inspections such as deformation measurement, crack identification, and corrosion assessment.

[0003] In the prior art, Patent CN114044028A proposes to use a multi-segment flexible jaw to enhance adaptability, but the increase in mechanical structure redundancy leads to a decrease in load capacity, making it difficult to carry industrial-grade detection equipment; Patent CN113562544B improves the obstacle-crossing ability by adding a swing arm mechanism, but its hinged structure causes system response delay and large positioning errors in a dynamic wind load environment. Academic research shows that existing climbing robots generally have a long adaptation time to step changes in diameter, which severely restricts the accuracy of detection data.

[0004] Therefore, to solve the above problems, it is urgent to design a rod climbing inspection robot with adaptive walking, obstacle crossing, and intelligent recognition capabilities to achieve accurate and efficient detection of the damage state of large-scale equipment under harsh working conditions and ensure the safe and reliable operation of the equipment system. This inspection robot combines an innovative asynchronous rotary drive mechanism with an intelligent sensing system, overcoming three major industry problems of non-uniform rod climbing robots, namely poor diameter adaptability, low obstacle-crossing efficiency, and insufficient detection accuracy. It realizes safe replacement of manual labor, improves detection efficiency, and reduces the full-life cycle operation and maintenance costs in high-risk scenarios, promoting the technology of special robots in China in the intelligent operation and maintenance of complex rods, and has strategic value for promoting the intelligent transformation of infrastructure and enhancing the international competitiveness of China's high-end equipment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the above technical defects, and provide an asynchronous rotation obstacle-crossing climbing inspection robot and a usage method. For the key defects of traditional climbing robots in the detection of non-uniform rods, through innovative design of an asynchronous rotation drive mechanism and modular drive components with independent control, break through the motion constraints of traditional mechanical structures, realize the control of drive units and adaptive adjustment to dynamic environments, and significantly improve the motion stability, obstacle-crossing ability and detection accuracy under complex working conditions. It effectively replaces manual climbing operations in high-risk scenarios, solves the long-existing pain points of poor safety, low efficiency and high costs in the field of infrastructure operation and maintenance, promotes the transformation of the industry towards intelligence and standardization, and provides core technical support for the application of special robots in fields such as energy, transportation and construction.

[0006] To solve the above technical problems, the technical solution provided by the present invention is: an asynchronous rotation obstacle-crossing climbing inspection robot, comprising:

[0007] An installation frame, which is formed by sequentially connecting a plurality of bench units through connecting pieces to form an annular structure surrounding the cable, and a disconnection part is provided between two adjacent bench units to form a closed-loop gap;

[0008] A bench unit, each of which includes an outer bench and an inner bench, and the inner bench can move in and out relative to the outer bench;

[0009] A connection control component, which is arranged on one side of the closed-loop gap and is used for disconnecting and reconnecting adjacent bench units when the robot crosses a transverse obstacle;

[0010] A drive component, which is arranged on each bench unit and includes a shaft diameter adjustment mechanism and a drive mechanism. The shaft diameter adjustment mechanism is used to adjust the tightness of the contact between the robot and the cable, and the drive mechanism is used to drive the robot to move along the cable.

[0011] Further, the connection control component includes two groups of servos installed on the outer bench. A movable straight connecting piece is provided at the end of the output shaft of the servo. A fixed straight connecting piece is provided at one end of the disconnection part far away from the movable straight connecting piece. Both the movable straight connecting piece and the fixed straight connecting piece are "L"-shaped parts, and they are clamped with each other for fixation when they cooperate.

[0012] Further, the connecting piece includes triangular connecting frames provided at the four corners of the outer bench. Two triangular connecting frames between two adjacent outer benches are connected by a connecting plate, and the triangular connecting frames located at both ends of the closed-loop gap are respectively used for installing the fixed straight connecting piece and the servo.

[0013] Further, the shaft diameter adjustment mechanism includes:

[0014] The axial shaft diameter adjustment structure is divided into a front shaft diameter adjustment mechanism arranged at the front end of the movement direction of the bench unit and a rear shaft diameter adjustment mechanism arranged at the rear end of the movement direction of the bench unit, and is used to adjust the axial contact position between the robot and the cable;

[0015] The circumferential shaft diameter adjustment structure is used to adjust the circumferential contact position between the robot and the cable.

[0016] Further, the driving mechanism includes:

[0017] An axial driving wheel set, including a driving wheel and a driven wheel;

[0018] An axial driving structure, including an axial driving motor and a chain drive mechanism, and the chain drive mechanism connects the axial driving motor and the driving wheel;

[0019] A circumferential driving wheel is arranged on the inner bench for circumferential driving;

[0020] A circumferential driving motor is used to drive the circumferential driving wheel to rotate;

[0021] Wherein, a front opening, a middle opening and a rear opening are correspondingly arranged on the inner bench, and the driving wheel, the circumferential driving wheel and the driven wheel are respectively installed in the front opening, the middle opening and the rear opening.

[0022] Further, a front buckle and a rear buckle are relatively arranged on the inner side of the inner bench, the driven wheel is rotationally connected between the two front buckles on both sides through a front rotating shaft, and the driving wheel is rotationally connected between the two rear buckles on both sides through a rear rotating shaft;

[0023] Both the front shaft diameter adjustment mechanism and the rear shaft diameter adjustment mechanism include:

[0024] A pair of axially symmetrically arranged axial lead screw shafts;

[0025] An axial cross bar spanning between the two axial lead screw shafts;

[0026] A shaft diameter adjustment driving motor fixed to the inner side of the outer bench, and an axial adjustment lead screw is connected to the output end of the shaft diameter adjustment driving motor;

[0027] Wherein a threaded hole threadedly matched with the axial adjustment lead screw is arranged in the middle of the axial cross bar, both lead screw shafts slide through the outer bench, and the outer ends of the two axial lead screw shafts are respectively connected to both ends of the shaft cross bar;

[0028] In the front shaft diameter adjustment mechanism, the inner ends of the two axial lead screw shafts are respectively fixedly connected to the front buckles on both sides;

[0029] In the rear shaft diameter adjustment mechanism, the inner ends of the two axial lead screw shafts are respectively fixedly connected to the rear buckles on both sides.

[0030] Further, the circumferential shaft diameter adjustment structure includes:

[0031] A pair of circumferential lead screw shafts symmetrically distributed circumferentially;

[0032] A circumferential cross bar bridging between the two circumferential lead screw shafts;

[0033] A circumferential adjustment drive motor fixedly installed at the drive station inside the inner bench;

[0034] A circumferential adjustment lead screw drivingly connected to the output end of the circumferential adjustment drive motor;

[0035] Wherein:

[0036] A threaded hole for threaded engagement with the circumferential adjustment lead screw is provided in the middle of the circumferential cross bar;

[0037] Both of the two circumferential lead screw shafts slidably penetrate through the outer bench, and both of the two circumferential lead screw shafts

[0038] The outer ends are respectively connected to both ends of the circumferential cross bar and the inner ends are connected with bosses. The circumferential drive wheel is rotatably assembled on the boss through a rotary support shaft, and the circumferential adjustment drive motor is drivingly connected to the rotary support shaft through a reduction mechanism.

[0039] The present application also provides a method for an asynchronous rotating obstacle-crossing climbing inspection robot, including the following steps:

[0040] S1: When the robot is running normally on the cable, the circumferential shaft diameter adjustment structure drives the circumferential drive wheel to move outwards and does not contact the cable. Subsequently, the circumferential shaft diameter adjustment structure and the axial shaft diameter adjustment structure are locked, and the axial drive motor drives the driving wheel and the driven wheel in the axial drive wheel group to climb upwards;

[0041] S2: When the robot encounters a transverse cable during running on the cable, the control system receives the detection signal and calculates the angle to be adjusted, controls the circumferential drive motor in the circumferential drive motor to align the connection control component with the transverse cable, and the two sets of servos in the connection control component successively control the movable straight connecting piece to rotate and disconnect from the fixed straight connecting piece, so that the robot changes from a closed loop to an open loop to cross the transverse cable and reconnects to form a closed loop after crossing;

[0042] S3: When the robot encounters an increase in the cable diameter during running on the cable, the control system calculates the diameter change amount according to the detection signal and controls the two sets of shaft diameter adjustment drive motors in the shaft diameter adjustment mechanism to rotate at the calculated speed. The rotation of the shaft diameter adjustment drive motor drives the axial adjustment lead screw to rotate, and the rotation of the axial adjustment lead screw drives the axial cross bar and the axial lead screw shaft to move outwards, thereby driving the entire inner bench and the axial drive wheel group inside the inner bench to move outwards. When the cable diameter becomes smaller, the two sets of shaft diameter adjustment drive motors reverse to drive the axial drive wheel group to move inwards. In this way, the robot can adapt to cables of different diameters;

[0043] S4: When the robot encounters an obstacle while running on the cable, the control system controls the shaft diameter adjustment mechanism to move the axial drive wheel set and the inner frame outwards. At the same time, it controls the circumferential drive wheel to contact the cable, and drives the circumferential drive wheel to rotate through the circumferential drive motor, so that the robot can avoid the obstacle. After the robot crosses the obstacle, it then controls the inner frame and the axial drive wheel set to move inwards to contact the cable, and then controls the circumferential drive wheel to move outwards to disengage from the cable contact.

[0044] Further, in step S3, the rotational speed calculation formula of the shaft diameter adjustment drive motor is as follows:

[0045]

[0046] Where, θ is the rotation angle of the shaft diameter adjustment drive motor, P is the pitch of the axial adjustment screw rod, n is the rotational speed of the shaft diameter adjustment drive motor, and ΔD is the diameter change amount of the cable.

[0047] Compared with the prior art, the beneficial technical effects of the present invention adopting the above technical solutions are as follows:

[0048] Through the collaborative design of the innovative asynchronous rotation drive mechanism and the independently controlled modular drive components in this application, the robot of this application realizes the complete decoupling of the axial climbing and circumferential obstacle crossing actions. This design enables the robot to dynamically adapt to sudden changes in the diameter of the rod and various complex surface topographies, such as welding protrusions and damaged coating layers. Compared with the traditional synchronous drive system, the robot of this application can avoid the problem of motion interference when encountering obstacles, thus significantly improving the climbing stability and obstacle crossing efficiency. Especially in the face of complex and changeable engineering environments, the robot of this application shows stronger adaptability and flexibility.

[0049] The robot of this application adopts the full-autonomous climbing and remote control technology, which completely replaces the manual high-altitude operation in high-risk scenarios, thus greatly reducing the accident risk. In addition, through intelligent operation and maintenance data analysis, the robot can realize the prediction of the structural life and preventive maintenance, which further reduces the expenditure on sudden repairs. Generally speaking, the robot of this application has achieved a significant reduction in operation and maintenance costs, providing a more economical and efficient intelligent solution for infrastructure fields such as bridges, wind power, and energy.

[0050] In summary, the asynchronous rotation obstacle crossing and climbing inspection robot of this application not only makes a major breakthrough in motion control and obstacle crossing ability, but also shows significant advantages in terms of safety and comprehensive cost optimization. This innovative technical solution will inject new vitality into the technological development of the special robot field in China for the intelligent operation and maintenance of complex rods, and at the same time will promote the intelligent transformation of infrastructure and enhance the international competitiveness of China's high-end equipment. Description of the Drawings

[0051] Figure 1 is a schematic structural diagram of an asynchronous rotary obstacle-crossing climbing inspection robot of the present application;

[0052] Figure 2 is a schematic diagram of the climbing state of an asynchronous rotary obstacle-crossing climbing inspection robot of the present application;

[0053] Figure 3 is a schematic side view structural diagram of an asynchronous rotary obstacle-crossing climbing inspection robot of the present application;

[0054] Figure 4 is a structural diagram of the gantry unit of the present application;

[0055] Figure 5 is a schematic diagram of the climbing state of an asynchronous rotary obstacle-crossing climbing inspection robot of the present application when encountering a horizontal cable;

[0056] Figure 6 is a schematic side view structural diagram of the gantry unit of the present application;

[0057] Figure 7 is a schematic diagram of the inner structure of the gantry unit of the present application.

[0058] As shown in the figure:

[0059] 1. Mounting frame; 11. Gantry unit; 111. Outer gantry; 112. Inner gantry; 1121. Front opening;

[0060] 1122. Middle opening; 1123. Rear opening; 1124. Front buckle; 1125. Rear buckle; 12. Disconnecting part;

[0061] 13. Connecting member; 131. Triangular connecting frame; 132. Connecting plate;

[0062] 2. Connection control assembly; 21. Servo; 22. Movable straight connecting member; 23. Fixed straight connecting member;

[0063] 3. Driving assembly; 31. Shaft diameter adjusting mechanism; 311. Axial shaft diameter adjusting structure; 3111. Axial lead screw shaft;

[0064] 3112, Axial crossbar; 3113, Axial diameter adjustment drive motor; 3114, Axial adjustment lead screw; 312, Circumferential axial diameter adjustment structure; 3121, Circumferential lead screw shaft; 3122, Circumferential crossbar; 3123, Circumferential adjustment drive motor; 3124, Circumferential adjustment lead screw; 3125, Boss; 32, Drive mechanism; 321, Axial drive wheel set; 3211, Driving wheel; 3212, Driven wheel; 3213, Front rotating shaft; 3214, Rear rotating shaft; 322, Axial drive structure; 3221, Axial drive motor; 323, Circumferential drive wheel; 3231, Rotating support shaft; 324, Circumferential drive motor;

[0065] 4. Cable. Specific embodiments

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0067] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0068] In addition, the descriptions such as "first" and "second" in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0069] Moreover, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0070] As shown in the attached Figure 1 - attached Figure 7 figures, an asynchronous rotation obstacle-crossing climbing inspection robot includes:

[0071] Mounting frame 1, which is formed by connecting multiple bench units 11 in sequence through a connecting member 13 to form an annular structure surrounding the cable 4, and a disconnection portion 12 is provided between two adjacent bench units 11 to form a closed-loop gap;

[0072] Bench unit 11, each of which includes an outer bench 111 and an inner bench 112, and the inner bench 112 can move in and out relative to the outer bench 111;

[0073] Connection control component 2, which is arranged on one side of the closed-loop gap and is used to disconnect and reconnect adjacent bench units 11 when the robot crosses a lateral obstacle;

[0074] Drive component 3, which is arranged on each bench unit 11 and includes a shaft diameter adjustment mechanism 31 and a drive mechanism 32. The shaft diameter adjustment mechanism 31 is used to adjust the tightness of the contact between the robot and the cable 4, and the drive mechanism 32 is used to drive the robot to move along the cable 4.

[0075] In the asynchronous rotation obstacle-crossing climbing inspection robot of the present invention, through the arrangement of the connection control component 2, it is convenient to cross the obstacle by disconnecting and reconnecting adjacent bench units 11 when encountering a lateral obstacle, improving the obstacle-crossing ability of the robot; through the arrangement of the shaft diameter adjustment mechanism 31, the tightness of the contact between the robot and the cable 4 can be adjusted according to the diameter change of the cable 4, ensuring that the robot can operate stably on cables 4 with different diameters; at the same time, the drive mechanism 32 can drive the robot to move along the cable 4 to achieve the inspection function.

[0076] Specifically, in one embodiment, the connection control component 2 includes two groups of servos 21 mounted on the outer bench 111. A movable straight connecting member 22 is provided at the end of the output shaft of the servo 21, and a fixed straight connecting member 23 is provided at one end of the disconnection portion 12 away from the movable straight connecting member 22. Both the movable straight connecting member 22 and the fixed straight connecting member 23 are "L"-shaped parts, and they are clamped with each other for fixation when mating. When the robot needs to cross a lateral obstacle, the control system will control the two groups of servos 21 to act successively, so that the movable straight connecting member 22 rotates a certain angle, thereby disconnecting from the fixed straight connecting member 23. At this time, the adjacent bench units 11 are no longer fixedly connected and can move relative to each other to cross the obstacle; when the robot crosses the obstacle, the control system then controls the two groups of servos 21 to act, so that the movable straight connecting member 22 is reconnected to the fixed straight connecting member 23 to restore the closed-loop structure.

[0077] The connector 13 is provided to connect adjacent outer gantries 111 to form a ring structure surrounding the cable 4. In one embodiment, the connector 13 includes triangular connectors 131 provided at the four corners of the outer gantry 111. The two triangular connectors 131 between adjacent outer gantries 111 are connected by a connecting plate 132, and the triangular connectors 131 located at both ends of the closed-loop gap are respectively used to install and fix the straight connector 23 and the servo 21. Such a setting makes the structure of the mounting rack 1 more stable and facilitates the installation and fixation of the connection control assembly 2.

[0078] The shaft diameter adjusting mechanism 31 is used to adjust the tightness of the contact between the robot and the cable 4 to adapt to cables 4 of different diameters. In one embodiment, the shaft diameter adjusting mechanism 31 includes an axial shaft diameter adjusting structure 311 and a circumferential shaft diameter adjusting structure 312. The axial shaft diameter adjusting structure 311 is divided into a front shaft diameter adjusting mechanism provided at the front end of the moving direction of the gantry unit 11 and a rear shaft diameter adjusting mechanism provided at the rear end of the moving direction of the gantry unit 11, which are used to adjust the axial contact position between the robot and the cable 4; the circumferential shaft diameter adjusting structure 312 is used to adjust the circumferential contact position between the robot and the cable 4. Through the combined action of the axial shaft diameter adjusting structure 311 and the circumferential shaft diameter adjusting structure 312, precise adjustment of the tightness of the contact between the robot and the cable 4 can be achieved.

[0079] The driving mechanism 32 is used to drive the robot to move along the cable 4. In one embodiment, the driving mechanism 32 includes an axial driving wheel set 321, an axial driving structure 322, a circumferential driving wheel 323, and a circumferential driving motor 324. The axial driving wheel set 321 includes a driving wheel 3211 and a driven wheel 3212, which are respectively installed in the front opening 1121 and the rear opening 1123 of the inner gantry 112; the axial driving structure 322 includes an axial driving motor 3221 and a chain drive mechanism, and the chain drive mechanism connects the axial driving motor 3221 and the driving wheel 3211 to drive the driving wheel 3211 to rotate; the circumferential driving wheel 323 is provided in the middle opening 1122 of the inner gantry 112 for circumferential driving; the circumferential driving motor 324 is used to drive the circumferential driving wheel 323 to rotate. When the robot needs to move along the cable 4, the control system will control the axial driving motor 3221 to start, drive the driving wheel 3211 to rotate through the chain drive mechanism, and thus drive the robot to move along the cable 4; when the robot needs to cross an obstacle or make fine adjustments, the control system will control the circumferential driving motor 324 to start and drive the circumferential driving wheel 323 to rotate to adjust the posture and position of the robot.

[0080] Furthermore, both the front axle diameter adjustment mechanism and the rear axle diameter adjustment mechanism include a pair of axially symmetrically arranged axial lead screw shafts 3111, an axial cross bar 3112 spanning between the two axial lead screw shafts 3111, and a diameter adjustment drive motor 3113 fixed to the inner side of the outer bench 111. The output end of the diameter adjustment drive motor 3113 is connected with an axial adjustment lead screw 3114, and a threaded hole that is in threaded cooperation with the axial adjustment lead screw 3114 is provided in the middle of the axial cross bar 3112. Both of the two axial lead screw shafts 3111 slidably penetrate through the outer bench 111, and their outer ends are respectively connected to both ends of the axial cross bar 3112. Such a design allows the axial cross bar 3112 to move along the direction of the axial adjustment lead screw 3114 under the rotation of the axial adjustment lead screw 3114.

[0081] Specifically, in the front axle diameter adjustment mechanism, the inner ends of the two axial lead screw shafts 3111 are respectively fixedly connected to the front buckles 1124 on both sides. The front buckles 1124 are used for fixing the driven pulley 3212. Therefore, when the axial cross bar 3112 moves, it will drive the front buckles 1124 and the driven pulley 3212 to move together, thereby adjusting the contact position between the driven pulley 3212 and the cable 4. Similarly, in the rear axle diameter adjustment mechanism, the inner ends of the two axial lead screw shafts 3111 are respectively fixedly connected to the rear buckles 1125 on both sides. The rear buckles 1125 are used for fixing the driving pulley 3211. Therefore, when the axial cross bar 3112 moves, it will also drive the rear buckles 1125 and the driving pulley 3211 to move together, thereby adjusting the contact position between the driving pulley 3211 and the cable 4.

[0082] In addition, the present invention also designs a circumferential axle diameter adjustment structure 312. This structure includes a pair of circumferentially symmetrically distributed circumferential lead screw shafts 3121, a circumferential cross bar 3122 spanning between the two circumferential lead screw shafts 3121, and a circumferential adjustment drive motor 3123 fixed to the drive station on the inner side of the inner bench 112. The output end of the circumferential adjustment drive motor 3123 is in transmission connection with a circumferential adjustment lead screw 3124, and a threaded hole that is in threaded cooperation with the circumferential adjustment lead screw 3124 is provided in the middle of the circumferential cross bar 3122.

[0083] Both of the two circumferential lead screw shafts 3121 also slidably penetrate through the outer bench 111, and their outer ends are respectively connected to both ends of the circumferential cross bar 3122. And the inner ends are connected with a boss 3125, and the circumferential drive pulley 323 is rotatably assembled on the boss 3125 through a rotating support shaft 3231. Thus, when the circumferential adjustment drive motor 3123 rotates, it will drive the circumferential adjustment lead screw 3124 to rotate, and further drive the circumferential cross bar 3122 and the circumferential lead screw shafts 3121 to move. Since the inner end part of the circumferential lead screw shaft 3121 is connected to the boss 3125, the boss 3125 and the circumferential drive pulley 323 assembled thereon will also move together, thereby adjusting the contact position between the circumferential drive pulley 323 and the cable 4.

[0084] It should be noted that the circumferential adjustment drive motor 3123 is also drivingly connected to the rotary support shaft 3231 through a speed reduction mechanism. Such a design can make the circumferential drive wheel 323 rotate more smoothly, reducing vibration and noise caused by excessive rotation speed.

[0085] In this embodiment, a control system, a detection component, a wireless communication component, a power supply, etc. are also installed on the gantry unit 11. The control system can receive detection signals, process them, and then transmit control signals to each component. The detection component can be a camera, etc. The wireless communication component can facilitate the transmission of detection signals and control signals. The power supply is used for power supply. The cable climbing robot moving in a straight line can improve the positioning accuracy of the detection component, reduce the difficulty of processing the later detection results, and improve the detection efficiency and quality.

[0086] In addition, the present invention also provides a method for an asynchronous rotary obstacle-crossing climbing inspection robot. This method includes the following steps:

[0087] S1: When the robot is running normally on the cable 4, first, the circumferential shaft diameter adjustment structure 312 needs to drive the circumferential drive wheel 323 to move outwards so that it does not contact the cable 4. This is because under normal circumstances, the robot mainly relies on the axial drive wheel group 321 to drive its movement on the cable 4. The circumferential drive wheel 323 is mainly used when encountering obstacles or when the direction needs to be adjusted. Therefore, during normal operation, in order to avoid unnecessary friction and wear between the circumferential drive wheel 323 and the cable 4, it needs to be separated from the cable 4.

[0088] Subsequently, the circumferential shaft diameter adjustment structure 312 and the axial shaft diameter adjustment structure 311 need to be locked. This is to ensure the stability of the robot during movement. If these two structures are not locked, the robot may shake or deviate during movement, thus affecting its normal operation.

[0089] After locking, the axial drive motor will drive the driving wheel 3211 and the driven wheel 3212 in the axial drive wheel group 321 to climb upwards. This is achieved by transmitting the power of the axial drive motor to the driving wheel 3211 through a chain drive mechanism. The driven wheel 3212 will rotate together under the drive of the driving wheel 3211, thereby pushing the robot to move on the cable 4.

[0090] S2: When the robot encounters a lateral cable during operation on the cable 4, it needs to perform an obstacle-crossing operation. First, the control system will receive a detection signal and calculate the angle θ that needs to be adjusted. This angle θ is the angle by which the robot needs to rotate relative to its original position in order to accurately align with the lateral cable and cross it.

[0091] Then, the control system will control the circumferential drive motor 324 to align the connection control component 2 with the transverse cable 4. This is achieved by adjusting the rotation angle of the circumferential drive wheel 323. During the adjustment process, it is necessary to ensure that the two sets of servos 21 in the connection control component 2 can accurately point to the position of the transverse cable.

[0092] Next, the two sets of servos 21 will successively control the movable straight connecting piece 22 to rotate, disconnecting it from the fixed straight connecting piece 23. In this way, the robot changes from a closed-loop structure to an open-loop structure, enabling it to cross the transverse cable 4. During the crossing process, the robot needs to maintain balance and stability to avoid falling or being damaged due to shaking or deviation.

[0093] After the crossing is completed, the control system will again control the two sets of servos 21 to reconnect the movable straight connecting piece 22 with the fixed straight connecting piece 23, restoring the robot to a closed-loop structure. In this way, the robot can continue to run on the cable 4.

[0094] S3: When the robot encounters an increase in the cable diameter during operation on the cable 4, a diameter adaptation operation is required. First, the control system will calculate the cable diameter change amount ΔD based on the detection signal. This change amount ΔD is the amount by which the robot needs to adjust its shaft diameter adjustment mechanism 31 to adapt to the new cable diameter.

[0095] Then, the control system will control the two sets of shaft diameter adjustment drive motors 3113 in the shaft diameter adjustment mechanism 31 to rotate at the calculated speed. This speed is calculated based on the rotation angle θ of the shaft diameter adjustment drive motor 3113, the pitch P of the axial adjustment lead screw 3114, and the cable diameter change amount ΔD. Specifically, the following formula can be used to calculate the speed:

[0096]

[0097] Where n is the speed of the shaft diameter adjustment drive motor 3113, θ is the angle that the shaft diameter adjustment drive motor 3113 needs to rotate (this angle is proportional to the cable diameter change amount ΔD), P is the pitch of the axial adjustment lead screw 3114 (i.e., the distance moved per rotation), and ΔD is the cable diameter change amount. It should be noted that since the shaft diameter adjustment mechanism 31 includes a front shaft diameter adjustment mechanism and a rear shaft diameter adjustment mechanism, in actual operation, it is necessary to separately control the shaft diameter adjustment drive motors 3113 of these two parts to rotate.

[0098] When the shaft diameter adjustment drive motor 3113 rotates, it will drive the axial adjustment lead screw 3114 to rotate. Since a threaded hole that is threadedly engaged with the axial adjustment lead screw 3114 is provided in the middle of the axial cross bar 3112, when the axial adjustment lead screw 3114 rotates, it will drive the axial cross bar 3112 and the axial lead screw shaft 3111 connected thereto to move outward or inward. In this way, the entire inner frame 112 and the axial drive wheel set 321 inside the inner frame 112 can be driven to move outward or inward together, so as to adapt to cables 4 of different diameters.

[0099] S4: When the robot encounters an obstacle during operation on the cable 4, an obstacle avoidance operation needs to be performed. First, the control system will control the shaft diameter adjustment mechanism 31 to move the axial drive wheel set 321 and the inner frame 112 outward by a certain distance. The purpose of this is to enable the circumferential drive wheel 323 to contact the cable 4 and generate sufficient friction to drive the robot to move.

[0100] Then, the control system will control the circumferential drive motor 324 to drive the circumferential drive wheel 323 to rotate by a certain angle or speed, so that the robot can avoid the obstacle ahead. During the obstacle avoidance process, it is necessary to ensure that the robot maintains balance and stability to avoid falling or damage due to shaking or deviation.

[0101] After the robot crosses the obstacle, the control system will again control the inner frame 112 and the axial drive wheel set 321 to move inward to contact the cable 4. This is to enable the robot to return to the normal operating state and continue to move along the cable 4. Then, the control system will control the circumferential drive wheel 323 to move outward to disengage from the cable 4 to avoid unnecessary friction and wear during subsequent operation.

[0102] In summary, the present invention provides an asynchronous rotation obstacle-crossing climbing inspection robot and its working method. This robot has the advantages of simple structure, convenient operation, strong adaptability, etc., and can be widely applied to various occasions that require climbing and inspection along cables. At the same time, the working method of the present invention also has high efficiency and accuracy, and can ensure that the robot can operate stably and complete the expected inspection tasks in various complex environments.

[0103] The above describes the present invention and its implementation manners. This description is not restrictive, and what is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention, design similar structural forms and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. An asynchronous rotary obstacle-crossing inspection robot, comprising: A mounting frame (1), which is formed by connecting a plurality of bench units (11) in sequence through a connecting member (13) to form an annular structure surrounding a cable (4), and a disconnection part (12) is provided between two adjacent bench units (11) to form a closed-loop gap; The bench unit (11), each of which includes an outer bench (111) and an inner bench (112), and the inner bench (112) can move in and out relative to the outer bench (111); A connection control component (2), which is arranged on one side of the closed-loop gap and is used for disconnecting and reconnecting adjacent bench units (11) when the robot crosses a transverse obstacle; A driving component (3), which is arranged on each bench unit (11) and includes a shaft diameter adjusting mechanism (31) and a driving mechanism (32). The shaft diameter adjusting mechanism (31) is used for adjusting the tightness of the contact between the robot and the cable (4), and the driving mechanism (32) is used for driving the robot to move along the cable (4).

2. The asynchronous rotary obstacle-crossing inspection and climbing robot according to claim 1, characterized in that, The connection control component (2) includes two groups of servos (21) installed on the outer bench (111). A movable straight connecting member (22) is provided at the end of the output shaft of the servo (21). A fixed straight connecting member (23) is provided at one end of the disconnection part (12) away from the movable straight connecting member (22). Both the movable straight connecting member (22) and the fixed straight connecting member (23) are "L"-shaped parts and are clamped with each other for fixation when they are matched.

3. The asynchronous rotation obstacle-crossing climbing inspection robot according to claim 2, wherein The connecting member (13) includes triangular connecting frames (131) provided at the four corners of the outer bench (111). The two triangular connecting frames (131) between two adjacent outer benches (111) are connected by a connecting plate (132), and the triangular connecting frames (131) located at both ends of the closed-loop gap are respectively used for installing the fixed straight connecting member (23) and the servo (21).

4. The asynchronous rotary obstacle-crossing inspection and climbing robot according to claim 1, characterized in that, The shaft diameter adjusting mechanism (31) includes: An axial shaft diameter adjusting structure (311), which is divided into a front shaft diameter adjusting mechanism arranged at the front end of the moving direction of the bench unit (11) and a rear shaft diameter adjusting mechanism arranged at the rear end of the moving direction of the bench unit (11), and is used for adjusting the axial contact position between the robot and the cable (4); A circumferential shaft diameter adjusting structure (312), which is used for adjusting the circumferential contact position between the robot and the cable (4).

5. An asynchronous rotating obstacle-crossing and climbing inspection robot according to claim 4, characterized in that The driving mechanism (32) includes: An axial driving wheel set (321), which includes a driving wheel (3211) and a driven wheel (3212); An axial driving structure (322), which includes an axial driving motor (3221) and a chain transmission mechanism, and the chain transmission mechanism connects the axial driving motor (3221) and the driving wheel (3211); A circumferential driving wheel (323), which is arranged on the inner bench (112) for circumferential driving; A circumferential driving motor (324), which is used for driving the circumferential driving wheel (323) to rotate; Wherein, a front port (1121), a middle port (1122) and a rear port (1123) are correspondingly arranged on the inner bench (112), and the driving wheel (3211), the circumferential driving wheel (323) and the driven wheel (3212) are respectively installed in the front port (1121), the middle port (1122) and the rear port (1123).

6. The asynchronous rotation obstacle-crossing inspection and climbing robot according to claim 5, characterized in that On the inner side of the inner bench (112), a front buckle (1124) and a rear buckle (1125) are provided oppositely. The driven wheel (3212) is rotatably connected between the two front buckles (1124) on both sides through a front rotating shaft (3213), and the driving wheel (3211) is rotatably connected between the two rear buckles (1125) on both sides through a rear rotating shaft (3214); Both the front shaft diameter adjusting mechanism and the rear shaft diameter adjusting mechanism include: A pair of axially symmetrically arranged axial lead screw shafts (3111); An axial cross bar (3112) spanning between the two axial lead screw shafts (3111); A shaft diameter adjusting drive motor (3113) fixed to the inner side of the outer bench (111), and an axial adjusting lead screw (3114) is connected to the output end of the shaft diameter adjusting drive motor (3113); Wherein a threaded hole threadedly engaged with the axial adjusting lead screw (3114) is provided in the middle of the axial cross bar (3112), both lead screw shafts (3111) slidably penetrate through the outer bench (111), and the outer ends of the two axial lead screw shafts (3111) are respectively connected to both ends of the shaft cross bar (3112); In the front shaft diameter adjusting mechanism, the inner ends of the two axial lead screw shafts (3111) are respectively fixedly connected to the two front buckles (1124) on both sides; In the rear shaft diameter adjusting mechanism, the inner ends of the two axial lead screw shafts (3111) are respectively fixedly connected to the two rear buckles (1125) on both sides.

7. An asynchronous rotary obstacle-crossing inspection and climbing robot according to claim 4, characterized in that, The circumferential shaft diameter adjusting structure (312) includes: A pair of circumferentially symmetrically distributed circumferential lead screw shafts (3121); A circumferential cross bar (3122) spanning between the two circumferential lead screw shafts (3121); A circumferential adjusting drive motor (3123) fixed to the driving station on the inner side of the inner bench (112); A circumferential adjusting lead screw (3124) drivingly connected to the output end of the circumferential adjusting drive motor (3123); Wherein: A threaded hole threadedly engaged with the circumferential adjusting lead screw (3124) is provided in the middle of the circumferential cross bar (3122); Both of the two circumferential lead screw shafts (3121) slidably penetrate through the outer bench (111), the outer ends of the two circumferential lead screw shafts (3121) are respectively connected to both ends of the circumferential cross bar (3122), and a boss (3125) is connected to the inner end. The circumferential driving wheel (323) is rotatably assembled on the boss (3125) through a rotating support shaft (3231), and the circumferential adjusting drive motor (3123) is drivingly connected to the rotating support shaft (3231) through a reduction mechanism.

8. A method for an asynchronous rotating obstacle-crossing inspection and climbing robot, characterized in that, Including the following steps: S1: When the robot is running normally on the cable, the circumferential shaft diameter adjusting structure (312) drives the circumferential driving wheel (323) to move outwards and not contact the cable (4). Subsequently, the circumferential shaft diameter adjusting structure (312) and the axial shaft diameter adjusting structure (311) are locked, and the axial drive motor drives the driving wheel (3211) and the driven wheel (3212) in the axial driving wheel group (321) to climb upwards; S2: When the robot runs on the cable (4) and encounters a transverse cable, the control system receives the detection signal and calculates the angle θ to be adjusted, and controls the circumferential drive motor (324) in the circumferential drive motor (324) to align the connection control component (2) with the transverse cable (4). The two sets of servos (21) in the connection control component (2) successively control the movable straight connector (22) to rotate and disconnect from the fixed straight connector (23), so that the robot changes from a closed loop to an open loop to cross the transverse cable (4), and reconnects to form a closed loop after crossing; S3: When the robot runs on the cable (4) and encounters an increase in the diameter of the cable (4), the control system calculates the diameter change amount according to the detection signal, and controls the two sets of shaft diameter adjustment drive motors (3113) in the shaft diameter adjustment mechanism (31) to rotate at the calculated speed. The rotation of the shaft diameter adjustment drive motor (3113) drives the axial adjustment screw rod (3114) to rotate. The rotation of the axial adjustment screw rod (3114) drives the axial cross bar (3112) and the axial screw rod shaft (3111) to move outwards, thereby driving the entire inner gantry (112) and the axial drive wheel set (321) inside the inner gantry (112) to move outwards. When the diameter of the cable (4) decreases, the two sets of shaft diameter adjustment drive motors (3113) reverse to drive the axial drive wheel set (321) to move inwards. In this way, the robot can adapt to cable (4) with different diameters; S4: When the robot runs on the cable (4) and encounters an obstacle, the control system controls the shaft diameter adjustment mechanism (31) to move the axial drive wheel set (321) and the inner gantry (112) outwards, and at the same time controls the circumferential drive wheel (323) to contact the cable (4), and drives the circumferential drive wheel (323) to rotate through the circumferential drive motor (324), so that the robot avoids the obstacle. After the robot crosses the obstacle, then control the inner gantry (112) and the axial drive wheel set (321) to move inwards to contact the cable (4), and then control the circumferential drive wheel (323) to move outwards to disengage from the cable (4).

9. A method for an asynchronous rotating obstacle-crossing inspection and climbing robot according to claim 8, characterized in that, In step S3, the rotation speed calculation formula of the shaft diameter adjustment drive motor (3113) is as follows: Where θ is the rotation angle of the shaft diameter adjustment drive motor (3113), P is the pitch of the axial adjustment screw rod (3114), n is the rotation speed of the shaft diameter adjustment drive motor (3113), and ΔD is the diameter change amount of the cable (4).

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