Flying-inchworm type cable detection and repair robot

Abstract

The invention discloses a flying-inchworm type cable detection and repair robot. The flight detection module is fixedly connected with a winch steel cable, winding and unwinding of the winch steel cable are driven by a winch, and the winch is installed on the functional operation module. The flight detection module comprises a rotor wing driving module, a power failure protection module, a detection paint spraying module and a cable locking module; the rotor driving module is used for providing power, the power failure protection module is in rolling connection with a cable, and the cable locking module can clamp or release the cable; the functional operation module comprises a guide wheel module, a locking hoop module and an operation platform module, the guide wheel module is in rolling connection with the cable, the locking hoop module can clamp or release the cable, and the operation platform module is used for detecting and / or repairing the cable through a carried operation tool. According to the invention, a new flight-inchworm type climbing mode can be realized, and low-power and large-load cable surface lossless climbing is realized through intermittent alternate climbing in the mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of cable detection and repair equipment design, and particularly relates to a flying - inchworm type cable detection and repair robot. Background Art

[0002] Bridge cable detection and repair robots need to work in high - altitude, harsh and complex environments, and high safety and reliability for long - distance detection and repair need to be considered. Therefore, the research and application of bridge cable detection and repair robots are undoubtedly a great challenge both technically and in terms of application.

[0003] Currently, the climbing method of existing bridge cable detection and repair robots mainly relies on the movement of a climbing mechanism installed on the cable robot itself, and then drives the entire body to climb to the target position. Most of the existing climbing mechanisms are wheel - type, and multiple wheels of bilateral wheels or multi - lateral wheels are pre - tightened and pressed against the cable surface to roll forward. Their mass is generally large, the crawling speed on the longitudinally stretched bridge cables is slow, and it is easy to cause damage to the cable surface. Moreover, the flying maintenance mechanism itself has problems such as limited load - bearing capacity and low safety factor. At the same time, due to the large mass of the climbing mechanism itself, restricted by the curb weight of the operating load, the load - bearing capacity is low, and it cannot well meet the engineering requirements of cable detection and repair. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, such as the existing bridge cable detection and repair robots being prone to damage the cable surface during crawling, having numerous mechanism joints, low load - bearing capacity, and the risk of rapid falling in high - altitude operation scenarios, the present invention provides a flying - inchworm type cable detection and repair robot.

[0005] The technical solution adopted by the present invention is as follows:

[0006] I. A flying - inchworm type cable detection and repair robot

[0007] The cable detection and repair robot includes a flying detection module and a functional operation module; the flying detection module is fixedly connected to the winch cable, and the winding and unwinding of the winch cable are driven by a winch installed on the functional operation module;

[0008] The flying detection module includes an aircraft frame and a rotor drive module, a power - off protection module, a detection and painting module, and a cable locking module installed on the aircraft frame; the rotor drive module is arranged on the outer side of the aircraft frame to drive the flying detection module to move axially along the cable; the inside of the aircraft frame is used to arrange the cable, the power - off protection module is in rolling connection with the cable, and the cable locking module can clamp or release the cable;

[0009] The functional operation module includes an operation module frame, as well as a guide wheel module, a locking clamp module, and an operation platform module installed on the operation module frame; the interior of the operation module frame is used to arrange cables, the guide wheel module is in rolling connection with the cables, the locking clamp module can clamp or release the cables, and the operation platform module is used to detect and / or repair the cables through the operation tools carried thereon.

[0010] The rotor drive module includes a plurality of rotors, and each rotor is evenly distributed at intervals along the circumferential direction of the aircraft frame; the propellers of a pair of symmetrically arranged rotors are arranged at an angle relative to the propellers of other rotors, and the propellers of the remaining rotors are perpendicular to the axial direction of the aircraft frame.

[0011] Preferably, the angle is 26°. The purpose of setting the angle is to ensure that the flight detection module does not rotate and wind around the cable axis and maintain balance.

[0012] The flight detection module includes at least one power-off protection module; each power-off protection module includes two power-off protection units, and the two cable locking units are arranged relatively on the radial two sides of the cable; each power-off protection unit mainly consists of a damping regulator, a damping wheel, a friction plate, a photoelectric sensor, a rotating shaft, and a linear motor; the damping wheel is connected to the aircraft frame through the rotating shaft, and one friction plate is arranged on each of the axial two sides of the damping wheel, the friction plate contacts the outer edge of the damping wheel, each friction plate is connected to a corresponding damping regulator, a linear motor is arranged between the two damping regulators, both damping regulators are in transmission connection with the linear motor, and the linear motor is fixedly connected to the aircraft frame; one photoelectric sensor is arranged on each of the axial two sides of the damping wheel, and the photoelectric sensor is installed on the aircraft frame and the acquisition end faces the damping wheel. A circular grating is provided on the damping wheel. When the damping wheel rotates, the photoelectric sensor detects the rotation angle corresponding to the grating, and the rotation angle of the damping wheel can be obtained. In one cycle, the grating rotates a certain angle, and the rotation speed of the damping wheel and the absolute number of rotation circles of the damping wheel within a certain time can be calculated. Among them, when it is detected that the speed of the damping wheel exceeds a certain threshold, it indicates that the movement speed is too fast, and the friction plate of the damping wheel adjusts the friction force of the damping wheel to reduce the movement speed of the flight module, thereby avoiding the problem of rapid falling of the detection module due to power-off or other accidents. In addition, the position information of the current detection module on the cable can be calculated by detecting the absolute number of rotation circles of the damping wheel. For example, the information that the current position is 100 meters away from the starting position can be used as the record of the defect position information.

[0013] The cable locking module includes two cable locking units, which are arranged oppositely on the two radial sides of the cable; each cable locking unit includes a locking clip, a locking clip driving motor, a clip housing, a support plate and a transmission gear; the support plate is installed on the aircraft frame, the transmission gear is arranged inside the support plate, the locking clip driving motor is arranged below the support plate, the output shaft of the locking clip driving motor extends into the support plate and is connected to the central shaft hole of the transmission gear, and the locking clip driving motor can drive the transmission gear to rotate; the transmission gear is in transmission connection with the clip housing, and the clip housing is fixedly connected to the locking clip. When the cable locking module clamps the cable, the locking clip contacts the cable, and when the cable locking module releases the cable, the locking clip has no contact with the cable.

[0014] The detection and painting module includes a detection component and a painting component, which are respectively installed at both ends of the aircraft frame. The detection component includes at least one depth camera for identifying surface defects of the cable, and the painting component is used to position and mark the surface defects of the cable. Corresponding to the above absolute number of turns, the position information of the defects can be recorded.

[0015] The aircraft frame includes a rotor housing, a damping wheel fixing frame and a detection and painting frame. The detection and painting frame and the damping wheel fixing frame are coaxially arranged and connected by the rotor housing; the rotor driving module is installed on the outer side of the rotor housing, and the cable locking module is installed on the inner side; the detection and painting module is installed on the detection and painting frame; the power-off protection module is installed on the damping wheel fixing frame.

[0016] The functional operation module includes two guide wheel modules, which are symmetrically arranged at both ends of the operation module frame;

[0017] Each guide wheel module includes four guide wheels, which are evenly spaced along the circumferential direction of the cable, and each guide wheel is in rolling connection with the cable.

[0018] The locking hoop module includes two locking hoop units, which are arranged oppositely on the two radial sides of the cable;

[0019] Each locking hoop unit includes a locking friction plate and a locking friction plate driving motor; the locking friction plate driving motor is installed on the operation module frame, the locking friction plate driving motor is in transmission connection with the locking friction plate, and drives the locking friction plate to move back and forth along the radial direction of the cable.

[0020] II. A cable detection and repair method using the above cable detection and repair robot

[0021] The cable detection and repair method includes the following steps:

[0022] S1) Use the rotor drive module to drive the flight detection module to climb along the cable surface in a vertical or inclined direction towards the target position. Meanwhile, the functional operation module stays on the cable at the near-ground end and does not climb with the flight detection module.

[0023] S2) After the flight detection module reaches the target position, use the locking clip driving motor of the cable locking module to drive the locking clip to clamp the cable, realizing the anchoring of the flight detection module.

[0024] Use a winch to perform a wire retraction operation, driving the functional operation module to climb along the cable towards the target position; after the functional operation module reaches the target position, use the locking friction plate driving motor of the locking hoop module to drive the locking friction plate to clamp the cable, realizing the anchoring of the functional operation module.

[0025] Use the operation platform module to perform local detection and / or repair operations on the target position.

[0026] S3) After the local operation on the target position is completed, use the rotor drive module to drive the flight detection module to climb along the cable to the next target position. Meanwhile, the functional operation module stays at the current target position and does not perform the climbing action with the flight detection module; after the flight detection module reaches the target position, operate in the same manner as in step S2.

[0027] S4) Repeat step S3 until the overall operation is completed.

[0028] S5) In the anchored state of the flight detection module, release the anchoring of the functional operation module; use a winch to perform a wire pay-out operation, driving the functional operation module to descend along the cable to the transfer position and anchor the functional operation module on the cable.

[0029] Release the anchoring of the flight detection module; use the rotor drive module to drive and cooperate with the wire retraction operation of the winch to drive the flight detection module to descend along the cable to the transfer position and anchor the flight detection module on the cable.

[0030] S6) Repeat step S5 until the cable detection and repair robot returns to the ground.

[0031] The beneficial effects of the present invention are:

[0032] 1. The cable detection and repair robot provided by the present invention can realize a new flight-inchworm climbing mode, which combines flight and locking functions to achieve intermittent and alternating climbing, thereby realizing lossless climbing of large loads.

[0033] 2. The cable detection and repair robot provided by the present invention adopts a modular design, and the two modules can operate independently.

[0034] 3. The cable detection and repair robot provided by the present invention is equipped with an anti-drop module. By continuously detecting the moving speed and power supply status of the robot, and through the backup power supply module and the friction wheel module, the overall descending speed of the robot can be controlled, avoiding the risk of rapid dropping. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is the overall structure diagram of the cable detection and repair robot provided by the present invention;

[0036] Figure 2 It is the schematic diagram of the flight - inchworm climbing mode provided by the present invention;

[0037] Figure 3 It is the schematic diagram of the flight - inchworm large - stroke return provided by the present invention;

[0038] Figure 4 It is the schematic diagram of the flight - inchworm climbing and return scheme provided by the present invention;

[0039] Figure 5 It is the overall structural schematic diagram of the flight detection module provided by the present invention;

[0040] Figure 6 It is the overall structural schematic diagram of the functional operation module provided by the present invention;

[0041] Figure 7 It is the structural schematic diagram of the power - off protection module in the flight detection module provided by the present invention;

[0042] Figure 8 It is the structural schematic diagram of the cable locking module in the flight detection module provided by the present invention;

[0043] Figure 9 It is the rotor drive module in the flight detection module provided by the present invention;

[0044] Figure 10 It is the structural schematic diagram of a guide wheel module in the functional operation module provided by the present invention;

[0045] Figure 11 It is the structural schematic diagram of the locking hoop module in the functional operation module provided by the present invention.

[0046] In the figure, 1 is a detection component, 2 is an aircraft frame, 3 is a power-off protection module, 4 is a cable locking module, 5 is a clamping piece driving motor, 6 is a damping regulator, 7 is a painting component, 8 is a damping wheel, 9 is a friction plate, 10 is a rotor housing, 11 is a rotor, 12 is a clamping piece, 13 is a hoist cable, 14 is a hoist, 15 is an operation module frame, 16 is a locking hoop module, 17 is a guide wheel module, 18 is an optoelectronic sensor, 19 is a rotating shaft, 20 is a damping wheel fixed frame, 21 is a damping spring, 22 is a damping adjustment plate, 23 is a linear motor, 24 is a clamping piece housing, 25 is a support plate, 26 is a gear transmission component, 27 is a transmission gear, 28 is a propeller motor, 29 is a propeller protection shell, 30 is a propeller, 31 is a guide wheel, 32 is a locking friction plate, 33 is a locking hoop bracket, 34 is a locking friction plate driving motor. Detailed implementation manners

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] The present invention provides a flying-inchworm type cable detection and repair robot. As Figure 1 shown, this robot adopts a modular design, modularizes functions such as flight, operation, and detection, so as to realize adaptive combination in multiple scenarios. The cable detection and repair robot of the present invention also separately has a power-off protection module capable of preventing falling. The power-off protection module realizes controllable overall descent speed of the robot through a backup power supply and a damping wheel by continuously detecting the moving speed and power supply situation of the robot, and avoids the risk of rapid falling.

[0049] Based on this cable detection and repair robot, the present invention also proposes an inchworm type climbing mode. As Figure 2 and Figure 3 shown, this inchworm type climbing mode combines flight and locking functions to realize intermittent and alternating climbing, thereby realizing damage-free climbing of large loads. This inchworm type climbing mode can avoid damage to the cable surface during the climbing process.

[0050] Based on this inchworm type climbing mode, the present invention also provides a cable detection and repair method for vertical or inclined bridge cables. As Figure 4 shown, this cable detection and repair method realizes overall inspection of the cable through alternating climbing of a flight detection module and an operation function module. Through alternating anchoring and descending of the flight detection module and the operation function module, safe and slow descent of the cable without damage is realized.

[0051] I. The first aspect of the present invention provides a flying-inchworm type cable detection and repair robot

[0052] As Figure 1As shown in the figure, the cable detection and repair robot provided by the present invention includes a flight detection module and a functional operation module; the flight detection module is fixedly connected to the winch cable 13, and the winding and unwinding of the winch cable 13 is driven by a winch 14, and the winch 14 is installed on the functional operation module.

[0053] The implementation manner in which the winding and unwinding of the winch cable 13 is driven by the winch 14 can be: one end of the winch cable 13 is fixedly connected to the aircraft frame 2 of the flight detection module, and the other end is wound around the drum of the winch 14, and the winch 14 is installed at the top end of the functional operation module.

[0054] During the climbing process of the flight detection module, the entire functional operation module stays on the cable at the near-ground end and does not perform the climbing action simultaneously with the flight detection module. When the flight detection module is anchored at the target position, the winch 14 performs the wire-receiving operation to drive the entire functional operation module to rise.

[0055] (1) Flight detection module

[0056] As Figure 5 shown in the figure, the flight detection module includes an aircraft frame 2 and a rotor drive module, a power-off protection module 3, a detection and painting module, and a cable locking module 4 installed on the aircraft frame 2.

[0057] The rotor drive module is arranged on the outer side of the aircraft frame 2 for driving the flight detection module to move axially along the cable. The flight detection module realizes fast climbing with small load and low power consumption on the cable through the rotor drive module.

[0058] A first cable channel for arranging the cable is provided inside the aircraft frame 2, and the power-off protection module 3 and the cable locking module are arranged in the first cable channel.

[0059] The power-off protection module 3 is in rolling connection with the cable. By continuously detecting the moving speed and power supply situation of the robot, through the backup power supply module and the friction wheel module, the overall descending speed of the robot is made controllable to avoid the risk of rapid falling.

[0060] The cable locking module can clamp or release the cable. When the flight detection module reaches the specified height, it is anchored on the cable through the cable locking module, and high-load support is provided by using friction.

[0061] ① Rotor drive module

[0062] As Figure 9As shown, the rotor drive module includes six rotors 11, and the six rotors 11 are evenly spaced along the circumference of the aircraft frame 2; two relatively arranged rotors 11 are used as a pair of rotors 11, wherein the propellers 30 of one pair of rotors 11 are set at an angle relative to the propellers 30 of the other rotors 11, and the propellers 30 of the remaining two pairs of rotors 11 are perpendicular to the axial direction of the aircraft frame 2.

[0063] Preferably, in the embodiment of the present invention, the deflection angle of one pair of rotors 11 relative to the other rotors 11 is set to 26°. By setting this pair of rotors 11 with deflection angles, the situation that the aircraft as a whole twists around the cable that may occur during the ascent process can be resisted.

[0064] Specifically, the rotor 11 is composed of a propeller motor 28 , a propeller protective shell 29 , and a propeller 30 .

[0065] The core of the present invention is to use the rotor drive module to provide the necessary climbing power for the flight detection module, so that it can effectively move on the vertical or inclined cable surface. The aircraft is offset left and right to ensure that the detection module will not get entangled due to crosswind and other problems during the climbing process.

[0066] ②Power-off protection module

[0067] like Figure 5 As shown, in the embodiment of the present invention, the flight detection module includes two spaced apart power-off protection modules 3. The two power-off protection modules 3 have the same structure and are aligned up and down.

[0068] like Figure 7 As shown, the power-off protection module 3 includes two power-off protection units, and the two cable locking units are arranged on both sides of the radial direction of the cable; each power-off protection unit is mainly composed of a damping adjuster 6, a damping wheel 8, a friction plate 9, a photoelectric sensor 18, a rotating shaft 19 and a linear motor 23. The function of the friction plate 9 is to quickly clamp the damping wheel 8 when the power is off to prevent it from continuing to rotate due to inertia, thereby protecting the cable and the equipment.

[0069] The damping wheel 8 is connected to the aircraft frame 2 through a rotating shaft 19. A friction plate 9 is arranged on each axial side of the damping wheel 8. The friction plate 9 is in contact with the outer edge of the damping wheel 8. Each friction plate 9 is connected to a corresponding damping adjuster 6. A linear motor 23 is arranged between the two damping adjusters 6. The two damping adjusters 6 are both transmission-connected to the linear motor 23. The linear motor 23 is fixedly connected to the aircraft frame 2. A photoelectric sensor 18 is arranged on each axial side of the damping wheel 8. The photoelectric sensor 18 is installed on the aircraft frame 2 and the collecting end is facing the damping wheel 8.

[0070] The implementation manner in which the damping wheel 8 is connected to the aircraft frame 2 through the rotating shaft can be as follows: The damping wheel 8 and the rotating shaft 19 are coaxially rotatably connected through a bearing. The rotating shaft 19 passes through the center of the damping wheel 8 and is fixed to the aircraft frame 2 by means of threaded connection or the like, and is used to support the rotation of the damping wheel 8 and provide a stable damping effect.

[0071] The connection manner of the friction plate 9, the damping adjuster 6, and the linear motor 23 can be as follows: Each damping adjuster 6 is composed of a damping spring 21 and a damping adjustment plate 22. The damping spring 21 is arranged perpendicular to the rotating shaft 19, and the damping spring 21 and the damping adjustment plate 22 are coaxially arranged. One side of the friction plate 9 away from the rotating shaft 19 is fixedly connected to one end of the damping spring 21, and the other end of the damping spring 21 is fixedly connected to the damping adjustment plate 22. The two damping adjustment plates 22 are connected to the output shaft of the linear motor 23 through a U-shaped connecting member. When the linear motor 23 extends the output shaft towards the center, the output shaft drives the damping adjustment plate 22 to move towards the rotating shaft 19, thereby compressing the damping spring 21.

[0072] Further, the power-off protection unit further includes a connecting column. The connecting column is connected to the friction plate 9 and / or the aircraft frame 2. The damping spring 21 and the damping adjustment plate 22 are sleeved outside the connecting column.

[0073] The working process of the power-off protection module 3 is as follows: When the photoelectric sensor 18 detects that the rotation speed of the damping wheel 8 is too high, the power-off protection mode is started, and the linear motor 23 works to drive the damping adjustment plate 22 to move towards the friction plate 9 and squeeze the damping spring 21. The moving direction of the damping adjustment plate 22 is parallel to the axial direction of the damping spring 21. The friction plate 9 in contact with the outer edge of the damping wheel 8 generates a sufficiently large frictional force on the damping wheel 8 under the pressure of the damping spring 21, so that it decelerates, realizing the power-off anti-drop protection function.

[0074] Passive contact damping wheels 8 are symmetrically arranged inside the flight detection module, and these wheels help the module maintain a stable relative position with the cable. Among them, passive contact means that the damping wheel 8 does not have a motor to drive it to rotate, but rotates with the movement of the overall frame.

[0075] During the climbing process, the passive contact damping wheel 8 rolls due to dynamic friction with the cable. This process is crucial for the flight detection module to achieve stable movement. By using photoelectric sensors placed on both sides of the wheel to monitor the number of rotations of the passive wheel in real time, the climbing mileage of the detection module can be accurately calculated, providing accurate data support for subsequent detection and analysis, and simultaneously detecting the overall climbing and descending speeds of the detection device. When the rotational speed of the passive contact damping wheel 8 is too high or the power-off detection is triggered, the linear motor 23 adjusts the contact pressure between the passive contact damping wheel 8 and the cable. The linear motor 23 controls the pressure between the friction plate 9 and the passive contact damping wheel 8 by adjusting the damping regulator 6, achieving controllable deceleration of the passive contact damping wheel 8, thereby effectively preventing the overall mechanism from stalling and falling, and ensuring operation safety.

[0076] ③ Cable locking module

[0077] As Figure 8 shown, the cable locking module 4 includes two cable locking units, which are relatively arranged on the radial two sides of the cable; each cable locking unit includes a locking clip 12, a locking clip driving motor 5, a clip housing 24, a support plate 25, and a transmission gear 27;

[0078] The support plate 25 is installed on the aircraft frame 2. The transmission gear 27 is arranged inside the support plate 25. The locking clip driving motor 5 is arranged below the support plate 25. The output shaft of the locking clip driving motor 5 extends into the support plate 25 and is connected to the central shaft hole of the transmission gear 27. The locking clip driving motor 5 can drive the transmission gear 27 to rotate;

[0079] The transmission gear 27 is drivingly connected to the clip housing 24 through a gear transmission component 26. The clip housing 24 is fixedly connected to the locking clip 12. When the cable locking module clamps the cable, the locking clip 12 contacts the surface of the cable. When the cable locking module releases the cable, the locking clip 12 has no contact with the surface of the cable.

[0080] Optionally, the driving connection mode between the transmission gear 27 and the clip housing 24 is a gear-rack transmission.

[0081] Optionally, the gear transmission component 26 is a connecting rod provided with a rack. One end of the connecting rod is meshingly connected to the transmission gear 27 through the rack, and the other end of the connecting rod is fixedly connected to the clip housing 24.

[0082] Preferably, the cable locking module 4 is arranged in the middle of the aircraft frame 2.

[0083] As Figure 5 shown, in the embodiment of the present invention, the cable locking module 4 is located between two power-off protection modules.

[0084] The working process of the cable locking module 4 is as follows: The locking clip of the cable locking module 4 drives the driving motor 5 to drive the transmission gear 27 to rotate. The gear transmission component 26 converts the rotational motion of the transmission gear 27 into a linear motion of the clip housing 24 and the locking clip 12, so that the locking clip 12 moves radially closer to or away from the cable, thereby completing the clamping and hoop action or release action of the cable, and realizing the anchoring or de-anchoring of the flight detection module.

[0085] ④ Detection and painting module

[0086] The detection and painting module includes a detection component 1 and a painting component 7. The detection component 1 includes at least one depth camera for identifying surface defects of the cable, and the painting component 7 is used to position and mark the surface defects of the cable.

[0087] The surface defects of the cable generally include corrosion, rust, coating defects, attachments, and / or connection point defects, etc.

[0088] Preferably, as Figure 5 shown, in the embodiment of the present invention, the detection component 1 and the painting component 7 are respectively installed at the upper and lower ends of the aircraft frame 2.

[0089] Preferably, as Figure 5 shown, in the embodiment of the present invention, the detection component 1 includes three depth cameras, and the number of the painting components 7 is one.

[0090] Preferably, as Figure 5 shown, in the embodiment of the present invention, on the horizontal plane, the four projection points formed by the three depth cameras and the painting component 7 are evenly distributed on the same circumference.

[0091] During flight, for the detected defects, the painting device will timely perform positioning and marking for subsequent maintenance work; in order to realize the detection and recording of cable surface defects, three evenly distributed depth cameras are assembled at the front end of the flight detection module, which can perform three-dimensional reduction and reconstruction of the defects for safety monitoring.

[0092] ⑤ Aircraft frame

[0093] As Figure 5 and Figure 7 shown, the aircraft frame 2 includes a rotor housing 10, a damping wheel fixed frame 20, and a detection and painting frame. The detection and painting frame and the damping wheel fixed frame 20 are coaxially arranged and connected by the rotor housing 10; a rotor drive module is installed on the outside of the rotor housing 10, and a cable locking module 4 is installed on the inside; a detection and painting module is installed on the detection and painting frame; a power-off protection module 3 is installed on the damping wheel fixed frame 20.

[0094] Further, the damping wheel fixing frame 20 is respectively connected to the rotating shaft 19, the photoelectric sensor 18, and the linear motor 23.

[0095] ⑥The first power module

[0096] The flight detection module further includes a first power module, which is installed on the aircraft frame 2 and is used to supply power to the flight detection module.

[0097] In a specific implementation, the first power module is electrically connected to components such as the rotor 11, the photoelectric sensor 18, the linear motor 23, the locking clip driving motor 5, the depth camera, and the painting component 7.

[0098] Further, the first power module is also integrated with a power-off detection function. When the power-off detection is triggered, the linear motor 23 will adjust the contact pressure between the passive contact damping wheel 8 and the cable.

[0099] Further, the first power module also includes a backup power supply.

[0100] (2) Functional operation module

[0101] As Figure 6 shown, the functional operation module includes an operation module frame 15 and a guide wheel module 17, a locking hoop module 16, and an operation platform module installed on the operation module frame 15; a second cable channel for arranging cables is provided inside the operation module frame 15, and the guide wheel module 17 and the locking hoop module 16 are arranged in the second cable channel. The guide wheel module 17 is in rolling connection with the cable, the locking hoop module 16 can clamp or release the cable, and the operation platform module is used to detect and / or repair the cable through the carried operation tools.

[0102] ①Guide wheel module

[0103] As Figure 10 shown, each guide wheel module 17 includes four guide wheels 31, and the four guide wheels 31 are evenly distributed at intervals along the circumferential direction of the cable. Each guide wheel 31 is in rolling connection with the cable.

[0104] As Figure 6 shown, in the embodiment of the present invention, the functional operation module includes two guide wheel modules 17, and the two guide wheel modules 17 are symmetrically arranged at the upper and lower ends of the operation module frame 15.

[0105] In the embodiment of the present invention, two groups of guide wheel modules 17 are symmetrically arranged inside the functional operation module, and each group of guide wheels 17 includes four guide wheels 31. During the climbing process, the guide wheels 31 are in contact with the cable to help the module maintain a stable relative position with the cable.

[0106] ②Locking hoop module

[0107] As Figure 11 shown, the locking hoop module 16 includes two locking hoop units, which are relatively arranged on the radial two sides of the cable; the locking hoop unit includes a locking friction plate 32 and a locking friction plate driving motor 34; the locking friction plate driving motor 34 is installed on the operation module frame 15, and the locking friction plate driving motor 34 is in transmission connection with the locking friction plate 32 and drives the locking friction plate 32 to move back and forth along the radial direction of the cable.

[0108] Furthermore, the locking hoop module 16 further includes a locking hoop bracket 33, the locking friction plate driving motor 34 is installed on the locking hoop bracket 33, and the locking hoop bracket 33 is connected to the operation module frame 15 through a support rod member.

[0109] As Figure 6 shown, in the embodiment of the present invention, the locking hoop module 16 is located between two guide wheel modules 17 and is closer to the lower guide wheel module 17.

[0110] During the process of cable detection and repair, when the functional operation module reaches the target position, the locking hoop module 16 in the cable anchoring module controls the corresponding friction force to lock the cable and complete the anchoring of the functional operation module.

[0111] ③ Operation platform module

[0112] Optionally, the operation platform module is arranged in the middle of the operation module frame 15.

[0113] Operation tools for detecting and / or repairing the cable can be carried on the operation platform module according to actual needs.

[0114] The operation platform module included in the functional operation module can carry various operation tools related to cable repair according to the specific problems existing in the cable and adaptively repair various damaged cables.

[0115] ④ Second power supply module

[0116] The functional operation module further includes a second power supply module, which is installed on the operation module frame 15 and is used to supply power to the functional operation module.

[0117] In specific implementation, the second power supply module is electrically connected to components such as the locking friction plate driving motor 34 and the winch 14 respectively.

[0118] II. The second invention of the present invention provides a caterpillar climbing mode applicable to the above-mentioned cable detection and repair robot

[0119] Through a flying power scheme, damage to the cable surface during the climbing process is avoided, and a measuring worm-like climbing mode is proposed. Combining the flying and locking functions, intermittent and alternating climbing is achieved, thus realizing large-load and low-power lossless climbing. At the same time, the present invention is separately provided with a fall prevention module. By continuously detecting the moving speed and power supply situation of the robot, through the backup power supply module and the friction wheel module, the overall descending speed of the robot is controllable, avoiding the risk of rapid falling.

[0120] As Figure 4 shown, the flying-measuring worm-like climbing mode involved in the present invention includes a climbing and a return flight scheme.

[0121] The schematic diagram of the climbing process is as Figure 2 shown. When starting the operation, due to the modular design, the flight detection module can operate independently, and the cable surface is quickly detected and recorded by using the carried camera. Through the modular combination of the flight detection module and the operation function module, the following is achieved: the flight detection module climbs along the cable. After reaching the designated defect repair position, the cable locking module 4 is used to achieve relative locking with the cable; the winch 14 winds the wire to achieve the climbing of the operation function module. After the operation function module reaches the designated position, the locking clamp module 16 is used to achieve relative locking with the cable, and then the cable in the designated position area is locally repaired by using the operation platform module. After the cable repair work at the above position is completed, the flight detection module climbs again, driving the operation module to reach the next inspection area. The above operations are repeatedly executed to achieve the overall inspection of the cable.

[0122] The schematic diagram of the return flight process is as Figure 3 shown. After the overall operation is completed, the return operation mode is opposite to the climbing mode: after the flight detection module is anchored, the winch 14 pays out the wire, and the operation function module descends slowly for a long distance. After reaching the designated transfer position, it is anchored to the cable. The flight detection module then descends by the lift of the rotor in cooperation with the continuous wire winding of the heavy winch 14. After descending to the designated transfer position, it is anchored to the cable again. The above process is cycled in turn until it safely returns to the ground. By adopting the measuring worm-like climbing method, the interaction force between the detection module and the cable surface can be effectively reduced, thereby avoiding secondary damage to the cable surface and ensuring the accuracy of detection and the integrity of the cable.

[0123] Thirdly, the third aspect of the present invention provides a cable detection and repair method. This cable detection and repair method uses the cable detection and repair robot provided by the first aspect of the present invention and performs cable detection and repair operations through the measuring worm-like climbing mode provided by the second aspect of the present invention.

[0124] This cable detection and repair method specifically includes the following steps:

[0125] S1) using the rotor drive module to drive the flight detection module on a vertical or inclined cable surface to climb along the cable toward a target position, while the functional operation module stays on the cable near the ground and does not climb with the flight detection module;

[0126] S2) When the flight detection module reaches the target position, the locking clip driving motor 5 of the cable locking module 4 drives the locking clip 12 to clamp the cable to achieve anchoring of the flight detection module;

[0127] The winch 14 is used to carry out the wire reeling operation, driving the functional operation module to climb along the cable toward the target position; when the functional operation module reaches the target position, the locking friction plate driving motor 34 of the locking clamp module 16 is used to drive the locking friction plate 32 to clamp the cable, thereby realizing the anchoring of the functional operation module;

[0128] Use the work platform module to perform local inspection and / or repair work on the target location;

[0129] When the winch 14 is used to reel in the cable and the functional operation module is driven to climb along the cable toward the target position, only the guide wheel 31 in the functional operation module is in contact with the cable, and the guide wheel 31 has a pre-tightening force on the cable. In this process, the friction between the locking clip 12 of the cable locking module 4 and the cable is used to provide high load support.

[0130] S3) After the local operation at the target position is completed, the rotor drive module is used to drive the flight detection module to climb to the next target position along the cable. At the same time, the functional operation module stays at the current target position and does not climb with the flight detection module;

[0131] When the flight detection module reaches the target position, the same operation as step S2 is performed;

[0132] S4) repeating step S3 until the whole operation is completed;

[0133] S5) When the flight detection module is in an anchored state, the locking friction plate driving motor 34 of the locking hoop module 16 is used to drive the locking friction plate 32 to release the cable, thereby releasing the anchoring of the functional operation module; the winch 14 is used to release the cable, driving the functional operation module to descend along the cable to the transfer position, and the locking hoop module 16 is used to anchor the functional operation module on the cable;

[0134] The locking clip driving motor 5 of the cable locking module 4 drives the locking clip 12 to release the cable, thereby releasing the anchoring of the flight detection module; the rotor driving module is driven to cooperate with the winding operation of the winch 14 to drive the flight detection module to descend along the cable to the transfer position, and the cable locking module 4 is used to anchor the flight detection module on the cable;

[0135] S6) Repeat step S5 until the cable detection and repair robot returns to the ground.

[0136] The above specific embodiments are used to explain the present invention rather than limit the present invention. Any modifications and changes made within the spirit and scope of the claims of the present invention fall within the protection scope of the present invention.

[0137] The above are only the preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made according to the structures, features, and principles described in the scope of the present invention patent application are included in the scope of the present invention patent application.

Claims

1. A flying-inchworm type cable detection and repair robot, characterized in that: The cable detection and repair robot includes a flight detection module and a functional operation module; the flight detection module is fixedly connected to the winch cable (13), and the retraction and extension of the winch cable (13) are driven by a winch (14) installed on the functional operation module; The flight detection module includes an aircraft frame (2) and a rotor drive module, a power-off protection module (3), a detection and painting module, and a cable locking module (4) installed on the aircraft frame (2); the rotor drive module is arranged outside the aircraft frame (2) and is used to drive the flight detection module to move axially along the cable; the inside of the aircraft frame (2) is used to arrange the cable, the power-off protection module (3) is in rolling connection with the cable, and the cable locking module can clamp or release the cable; The functional operation module includes an operation module frame (15) and a guide wheel module (17), a locking clamp module (16), and an operation platform module installed on the operation module frame (15); the inside of the operation module frame (15) is used to arrange the cable, the guide wheel module (17) is in rolling connection with the cable, the locking clamp module (16) can clamp or release the cable, and the operation platform module is used to detect and / or repair the cable through the carried operation tools.

2. The flying-inching cable detection and repair robot according to claim 1, characterized in that: The rotor drive module includes a plurality of rotors (11), and each rotor (11) is evenly spaced along the circumference of the aircraft frame (2); the propellers (30) of one pair of rotors (11) are arranged at an angle relative to the propellers (30) of the other rotors (11), and the propellers (30) of the remaining rotors (11) are perpendicular to the axis of the aircraft frame (2).

3. The flight-inching cable detection and repair robot according to claim 1, characterized in that: The flight detection module includes at least one power-off protection module (3); each power-off protection module (3) includes two power-off protection units, and the two cable locking units are arranged opposite to each other on the radial two sides of the cable; each power-off protection unit mainly consists of a damping regulator (6), a damping wheel (8), a friction plate (9), a photoelectric sensor (18), a rotating shaft (19), and a linear motor (23); the damping wheel (8) is connected to the aircraft frame (2) through the rotating shaft (19), and one friction plate (9) is arranged on each of the two axial sides of the damping wheel (8), the friction plate (9) contacts the outer edge of the damping wheel (8), each friction plate (9) is connected to a corresponding damping regulator (6), a linear motor (23) is arranged between the two damping regulators (6), both damping regulators (6) are in transmission connection with the linear motor (23), and the linear motor (23) is fixedly connected to the aircraft frame (2); one photoelectric sensor (18) is arranged on each of the two axial sides of the damping wheel (8), and the photoelectric sensor (18) is installed on the aircraft frame (2) and the acquisition end faces the damping wheel (8).

4. The flying-inchworm type cable detection and repair robot according to claim 1, characterized in that: The cable locking module (4) includes two cable locking units which are arranged relatively on the two radial sides of the cable; each cable locking unit includes a locking clip (12), a locking clip driving motor (5), a clip housing (24), a support plate (25) and a transmission gear (27); the support plate (25) is installed on the aircraft frame (2), the transmission gear (27) is arranged inside the support plate (25), the locking clip driving motor (5) is arranged below the support plate (25), the output shaft of the locking clip driving motor (5) extends into the support plate (25) and is connected to the central shaft hole of the transmission gear (27), and the locking clip driving motor (5) can drive the transmission gear (27) to rotate; the transmission gear (27) is in transmission connection with the clip housing (24), the clip housing (24) is fixedly connected to the locking clip (12), when the cable locking module clamps the cable, the locking clip (12) contacts the cable, and when the cable locking module releases the cable, the locking clip (12) has no contact with the cable.

5. The flying-inchworm type cable detection and repair robot according to claim 1, characterized in that: The detection and painting module includes a detection component (1) and a painting component (7) which are respectively installed at the two ends of the aircraft frame (2), the detection component (1) includes at least one depth camera for identifying surface defects of the cable, and the painting component (7) is used for positioning and marking the surface defects of the cable.

6. The flight-inchworm type cable detection and repair robot according to claim 1, characterized in that: The aircraft frame (2) includes a rotor housing (10), a damping wheel fixing frame (20) and a detection and painting frame, the detection and painting frame and the damping wheel fixing frame (20) are coaxially arranged and are connected through the rotor housing (10); a rotor driving module is installed on the outer side of the rotor housing (10), and a cable locking module (4) is installed on the inner side; the detection and painting module is installed on the detection and painting frame; a power-off protection module (3) is installed on the damping wheel fixing frame (20).

7. The flying-inching cable detection and repair robot according to claim 1, characterized in that: The functional operation module includes two guide wheel modules (17) which are symmetrically arranged at the two ends of the operation module frame (15); the guide wheel module (17) includes four guide wheels (31), the four guide wheels (31) are evenly spaced along the circumferential direction of the cable, and each guide wheel (31) is in rolling connection with the cable.

8. The flying-inchworm type cable detection and repair robot according to claim 1, characterized in that: The locking hoop module (16) includes two locking hoop units which are arranged relatively on the two radial sides of the cable; the locking hoop unit includes a locking friction plate (32) and a locking friction plate driving motor (34); the locking friction plate driving motor (34) is installed on the operation module frame (15), the locking friction plate driving motor (34) is in transmission connection with the locking friction plate (32) and drives the locking friction plate (32) to move reciprocally along the radius of the cable.

9. A cable detection and repair method using the cable detection and repair robot according to any one of claims 1 to 8, characterized in that, Including the following steps: S1) Use the rotor driving module to drive the flight detection module to climb along the cable to the target position on the vertical or inclined cable surface, and at the same time, the functional operation module stays on the cable at the near-ground end and does not climb with the flight detection module; S2) After the flight detection module reaches the target position, the clamping piece driving motor (5) of the cable locking module (4) is used to drive the clamping piece (12) to clamp the cable, so as to anchor the flight detection module; the winch (14) is used for wire winding operation to drive the functional operation module to climb along the cable towards the target position; after the functional operation module reaches the target position, the locking friction piece driving motor (34) of the locking hoop module (16) is used to drive the locking friction piece (32) to clamp the cable, so as to anchor the functional operation module; the operation platform module is used to perform local detection and / or repair operations on the target position. S3) After the local operation on the target position is completed, the rotor drive module is used to drive the flight detection module to climb along the cable to the next target position. At the same time, the functional operation module stays at the current target position and does not perform the climbing action along with the flight detection module; after the flight detection module reaches the target position, operate in the same manner as in step S2. S4) Repeat step S3 until the overall operation is completed. S5) Under the anchored state of the flight detection module, release the anchoring of the functional operation module; use the winch (14) for wire releasing operation to drive the functional operation module to descend along the cable to the transfer position, and anchor the functional operation module on the cable; release the anchoring of the flight detection module. Use the rotor drive module to drive and cooperate with the wire winding operation of the winch (14) to drive the flight detection module to descend along the cable to the transfer position, and anchor the flight detection module on the cable. S6) Repeat step S5 until the cable detection and repair robot returns to the ground.

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