Cable climbing robot

Abstract

The invention discloses a cable climbing robot, and relates to the technical field of cable detection equipment. The cable robot aims at solving the problem that in the climbing operation process of a cable robot, large pre-pressure is applied to a cable, and consequently the cable is secondarily damaged. The cable climbing robot comprises a plurality of racks, a first connecting rod and a duct propelling assembly. The multiple racks are distributed at intervals in the first direction, and cable through cavities are formed in the racks in the first direction. The first connecting rod is fixedly connected with the multiple racks in the first direction, and preset equipment is installed among the multiple racks. The duct propelling assembly is connected with at least one of the rack and the first connecting rod, and the duct propelling assembly is at least used for providing propelling force in the first direction. According to the cable maintenance device, the pre-pressure applied to the cable in the maintenance process can be reduced or avoided, so that secondary damage such as scraping or abrasion to the cable in the maintenance operation process is avoided, the stability of the cable is improved, and the service life of the cable is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of cable detection equipment, and more particularly to a cable climbing robot. Background Art

[0002] In modern bridge construction, whether it is a cable-stayed bridge or a suspension bridge, the bridge deck is lifted by cables. The cables are used to bear the weight of the bridge deck and are important load-bearing components of the bridge. The cables bear the weight of the bridge for a long time and are subjected to the complex tests of natural environments such as wind, rain, and sun. During this process, the cables are prone to problems such as surface corrosion and internal steel wire fracture. Therefore, regular inspection and flaw detection and other maintenance operations need to be carried out on the cables.

[0003] During the process of cable inspection, flaw detection and other maintenance operations, a climbing robot is usually used to carry detection equipment to climb and detect along the length direction of the cable. However, whether it is a wheeled, tracked or bionic cross-arm climbing robot, it relies on the friction force between the driving device and the cable surface to achieve climbing up and down. That is, during the climbing process, the climbing robot needs to apply a large pre-pressure to the cable, which is likely to cause damage to the cable surface. Summary of the Invention

[0004] Based on this, a cable climbing robot is provided, aiming to solve the problem of secondary damage to the cable caused by the large pre-pressure applied by the cable robot during the climbing operation.

[0005] An embodiment of the present application provides a cable climbing robot, including a plurality of frames, a first connecting rod, and a ducted propulsion assembly. The plurality of frames are spaced apart along a first direction, and each frame is provided with a cable through cavity along the first direction. The first connecting rod fixedly connects the plurality of frames along the first direction, and a preset device is installed between the plurality of frames. The ducted propulsion assembly is connected to at least one of the frame and the first connecting rod, and the ducted propulsion assembly is at least used to provide a propulsion force along the first direction.

[0006] Beneficial effects: The first connecting rod fixedly connected between multiple racks makes the whole cable climbing robot stably connected, and enables the space between two adjacent racks in the first direction to accommodate and install preset devices such as cameras, flaw detectors, or batteries. During the cable maintenance operation by the above-mentioned cable climbing robot, the cable is arranged in the cable through cavities of multiple racks, so that the cable climbing robot can travel along the length direction of the cable in the first direction. During this process, the ducted propulsion assembly provides a propulsion force in the first direction to push the cable climbing robot to quickly travel along the length direction of the cable in the first direction. Thus, during the process of using the cable climbing robot of the embodiment of the present application to climb and maintain the cable, it is not necessary to apply a large pre-pressure to the cable by the cable climbing robot to provide the friction force for climbing and traveling, thereby greatly reducing or avoiding the pre-pressure applied to the cable during the maintenance process, so as to avoid secondary damage such as scratching or abrasion to the cable during the maintenance operation, which is beneficial to improving the stability and service life of the cable. Description of the Drawings

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the disclosed drawings.

[0008] Figure 1 is a three-dimensional structure schematic diagram of a cable climbing robot according to an embodiment of the present application;

[0009] Figure 2 is Figure 1 a side view of the cable climbing robot shown;

[0010] Figure 3 is a connection structure schematic diagram of a controller according to an embodiment of the present application;

[0011] Figure 4 is Figure 1 a top view of the cable climbing robot shown;

[0012] Figure 5 is Figure 1 a partial structure schematic diagram of the cable climbing robot shown;

[0013] Figure 6 is Figure 5 a partial enlarged view of part A in ;

[0014] Figure 7 is Figure 4 a partial enlarged schematic diagram of the guide wheel assembly shown in ;

[0015] Figure 8 is Figure 4 A partial enlarged schematic view at the first connecting member shown in

[0016] Figure 9 is Figure 8 An exploded view of the first connecting member shown in

[0017] Figure 10 is Figure 8 Another exploded view of the first connecting member shown in

[0018] Figure 11 is Figure 4 A partial enlarged schematic view at the second connecting member shown in

[0019] Figure 12 is Figure 4 Another partial enlarged schematic view at the second connecting member shown in

[0020] Figure 13 is Figure 12 An exploded view of the locking fastener and the hook connecting member in the locked state shown in

[0021] Figure 14 is Figure 2 A three - dimensional structure schematic view of the anti - falling assembly shown in

[0022] Figure 15 is Figure 14 A cross - sectional view of the anti - falling assembly shown.

[0023] Explanation of reference numerals:

[0024] 100, cable - climbing robot;

[0025] 110, frame; 111, cable through - cavity; 112, first half - hoop member; 113, second half - hoop member; 1131, second upper frame plate; 1132, second lower frame plate; 1133, second fixed seat; 114, first connecting member; 1141, first adjusting member; 1142, second adjusting member; 1143, locking member; 11431, locking body; 11432, handle part; 11433, first cushion block; 11434, second cushion block; 1144, insertion slot; 1145, positioning member; 115, second connecting member; 1151, first hook; 1152, locking fastener; 11521, fixing part; 11522, positioning part; 11523, adjusting part; 11524, adapting part; 11525, threaded hole; 1153, hook connecting member;

[0026] 120, first connecting rod;

[0027] 130. Duct propulsion assembly; 131. First duct thruster; 132. Second duct thruster; 133. Steering member; 1331. Steering base; 1332. Steering motor; 1333. Direction sensor;

[0028] 140. Preset device; 141. Battery module; 142. Flaw detector;

[0029] 150. Image detection assembly; 151. First bracket; 152. Image collector; 153. Bracket base;

[0030] 161. Controller;

[0031] 170. Guide wheel assembly; 171. Guide wheel support arm; 172. Guide wheel member; 173. Buffer member;

[0032] 180. Anti - falling assembly; 181. Anti - falling bracket; 182. Anti - falling claw; 183. Support rod; 184. Anti - falling motor; 185. Spring member. Detailed implementation mode

[0033] To make the purpose and implementation mode of this application clearer, the following will clearly and completely describe the exemplary implementation mode of this application with reference to the drawings in the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only a part of the embodiments of this application, rather than all of them.

[0034] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application.

[0035] It should be noted that in actual applications, due to the limitations of equipment accuracy or installation errors, it is difficult to achieve an absolute parallel or perpendicular effect. In this application, the descriptions related to vertical, parallel or in the same direction are not an absolute limiting condition, but mean that a vertical or parallel structural setting can be achieved within a preset error range (such as a deviation of 5° up and down) to achieve the corresponding preset effect, so as to maximize the technical effect of the defined features and make the corresponding technical solutions easy to implement and highly feasible.

[0036] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0037] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected" and "coupled" should be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0038] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it may be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the present application are only for the purpose of illustration and do not represent the only implementation.

[0039] The disclosure of the present application provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described in the present application. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0040] In modern bridge construction, whether it is a cable-stayed bridge or a suspension bridge, the bridge deck is lifted by cables. The cables are used to bear the weight of the bridge deck, and the cables are important load-bearing components of the bridge. The cables bear the weight of the bridge for a long time and are subjected to the complex tests of natural environments such as wind, rain and sun. During this process, the cables are prone to problems such as surface corrosion and internal wire fracture. Therefore, it is necessary to perform maintenance operations such as regular inspection and flaw detection on the cables.

[0041] During the process of detecting and flaw detecting a cable, a climbing robot is usually used to carry detection equipment to climb and detect along the length direction of the cable. However, whether it is a wheeled, tracked or bionic cross-arm climbing robot, it relies on the friction between the equipment and the cable surface to achieve climbing up and down. That is, during the climbing process, the climbing robot needs to apply a large pre-pressure to the cable, which is likely to cause damage to the cable surface. Based on this, the embodiment of the present application provides a cable climbing robot, aiming to solve the problem of cable damage caused by the large pre-pressure applied by the cable robot during the climbing operation. The following will be combined with Figures 1 to 15 Specifically describe the cable climbing robot of the embodiment of the present application.

[0042] As Figure 1 And Figure 2 As shown in the figure, the cable climbing robot 100 provided by the embodiment of the present application includes a plurality of frames 110, a first connecting rod 120, and a ducted propulsion assembly 130. Among them, the plurality of frames 110 are spaced apart along the first direction (such as the Z direction), and the frame 110 is provided with a cable through cavity 111 along the Z direction, so that the cable through cavities 111 between the plurality of frames 110 spaced apart along the Z direction are used to thread the cable. The first connecting rod 120 is fixedly connected to the plurality of frames 110 along the Z direction, and a preset device 140 is installed between the plurality of frames 110. The ducted propulsion assembly 130 is connected to at least one of the frame 110 and the first connecting rod 120, and the ducted propulsion assembly 130 is at least used to provide a propulsion force along the Z direction.

[0043] The first connecting rod 120 fixedly connected between the plurality of frames 110 makes the whole cable climbing robot 100 connected stably, and enables the space between two adjacent frames 110 along the first direction to accommodate and install preset devices such as shooting, flaw detection or batteries. During the process of overhauling the cable by the above-mentioned cable climbing robot 100, the cable is arranged in the cable through cavity 111 of the plurality of frames 110, so that the cable climbing robot 100 can travel along the first direction along the length direction of the cable. During this process, the ducted propulsion assembly 130 provides a propulsion force along the first direction to the cable climbing robot 100 to push the cable climbing robot 100 to travel quickly along the first direction along the length direction of the cable. In this way, during the process of climbing and overhauling the cable by using the cable climbing robot 100 of the embodiment of the present application, it is not necessary to apply a large pre-pressure to the cable by the cable climbing robot 100 to provide the friction force for climbing and traveling, thereby greatly reducing or avoiding the pre-pressure applied to the cable during the overhaul process, so as to avoid secondary damage such as scratching or abrasion to the cable during the overhaul operation, which is beneficial to improving the stability and service life of the cable.

[0044] Moreover, since the cable climbing robot 100 according to the embodiment of the present application has no contact with the cable or has a small contact resistance during the climbing process, the whole machine can have a higher climbing speed under the action of the same propulsion force, which is beneficial to improving the maintenance operation efficiency and reducing the maintenance operation time.

[0045] Among them, the cable climbing robot 100 provided by the embodiment of the present application has a variety of power supply methods. For example, the preset device 140 may include a battery module, that is, one or more battery modules are arranged between two frames 110 spaced apart in the first direction to supply power to structures such as the ducted propulsion assembly 130 through the battery module. So that the cable climbing robot 100 can be unrestricted by the power supply scenario during the maintenance climbing operation and has good flexibility.

[0046] Exemplarily, the battery module can be configured to be detachably connected, that is, during the climbing operation, the operation endurance time of the whole machine can be improved by replacing the battery module.

[0047] Alternatively, the cable climbing robot 100 can also be set as a wired power supply structure. That is, during the maintenance operation, the cable climbing robot 100 can climb and move forward by dragging a power supply cable.

[0048] In this way, since the cable climbing robot 100 does not need to configure a battery module to occupy additional counterweight during the climbing process, the whole machine has a high load-carrying capacity. And, wired power supply has an almost infinite operation endurance time compared with wireless power supply, and there is no need to frequently replace batteries and other operations.

[0049] Exemplarily, during outdoor operations, power supply can be carried out by configuring a generator or through an external power supply of a new energy vehicle, etc., which is not limited herein.

[0050] During the process of climbing and moving forward along the length direction of the cable, the cable climbing robot 100 can detect the cable in a variety of ways.

[0051] Exemplarily, as Figure 1 shown, the cable climbing robot 100 further includes an image detection component 150. The image detection component 150 includes a plurality of first brackets 151 and a plurality of image collectors 152. The first brackets 151 are connected to the frames 110 or the first connecting rods 120. An image collector 152 is correspondingly arranged with a first bracket 151, and the image collector 152 is connected to the first bracket 151 for collecting image information of the cable.

[0052] The image collector 152 can be a device such as a camera or a high-speed camera that can continuously and frequently collect image information. Through the setting of the first bracket 151, while fixedly connecting the image collector 152, the shooting angle of the image collector 152 can also be adjusted by adjusting the first bracket 151.

[0053] Exemplarily, the image detection component 150 is connected to one of the racks 110. Taking the rack with multiple first brackets 151 connected thereto and located on the upper side in the Z direction as an example. The multiple first brackets 151 are connected above the upper-side rack 110, and the multiple first brackets 151 are arranged at intervals around the cable through cavity 111.

[0054] Among them, the first bracket 151 can be a corrugated pipe structure. Or, the first bracket 151 can be a rod-shaped structure with multiple sections connected by rotation. So as to flexibly adjust the collection angle of the image collector 152 by adjusting the first bracket 151, so that multiple image collectors 152 can be distributed at intervals along the circumferential direction of the cable and perform non-dead-angle coverage collection on the image information of the cable.

[0055] Continue to refer to Figure 1 , the image detection component 150 further includes multiple bracket seats 153. One bracket seat 153 is correspondingly arranged with one first bracket 151, and the first bracket 151 is connected to the rack 110 through the bracket seat 153.

[0056] For example, the bracket seat 153 is connected above the upper-side rack 110 in the Z direction, and the multiple bracket seats 153 are distributed at intervals around the cable through cavity 111. Among them, the first bracket 151 is detachably connected to the bracket seat 153, and there are multiple different positions on the bracket seat 153 for connecting the first bracket 151, which is convenient for flexibly adjusting the collection angle of the image collector 152.

[0057] In addition, in some embodiments, the preset device 140 further includes a flaw detector. Exemplarily, the flaw detector can be an ultrasonic flaw detector, an eddy current flaw detector or a ray flaw detector. So as to perform flaw detection on the inside of the cable through the flaw detector, thereby obtaining accurate information about the internal state of the cable.

[0058] It should be noted that since the flaw detector has a relatively large volume and weight. Conventional cable climbing robots do not have enough space and load-bearing capacity to carry the flaw detector. Even if the flaw detector can be barely carried, since the flaw detector significantly increases the weight of the cable climbing robot, the cable climbing robot needs to apply a greater pre-pressure to the cable to obtain enough friction for climbing, thereby causing greater damage to the cable.

[0059] In the technical solution of the present application, multiple racks 110 are arranged at intervals along the Z direction, so that sufficient installation space can be obtained between two adjacent racks 110 by adjusting the length dimension of the first connecting rod 120 to accommodate preset devices 140 such as flaw detectors. Moreover, the cable climbing robot 100 in the solution of the present application provides propulsion force through the ducted propulsion assembly 130, so that even if the carrying weight of the cable climbing robot 100 is greatly increased, no greater pre-pressure damage will be caused to the cable during the climbing process.

[0060] On this basis, by setting the cable climbing robot 100 to a wired power supply structure, the problem of a significant decrease in battery life caused by an increase in the carrying weight can be further avoided.

[0061] In some embodiments, as Figure 2 shown, the cable climbing robot 100 further includes a controller 161, such as the controller 161 is connected to the rack 110 or the first connecting rod 120. Combining Figure 3 , the controller 161 can be electrically connected to devices such as an image collector 152, a preset device 140, and a ducted propulsion assembly 130.

[0062] Exemplarily, as Figure 3 shown, the controller 161 is electrically connected to the battery module 141 to supply power to other electrical components through the battery module 141. Combining Figure 3 , the controller 161 can be connected to at least one of the flaw detector 142 and the image collector 152.

[0063] For example, while the controller 161 supplies power to the above two components, it can also store and analyze the cable detection information collected by the flaw detector 142 and the image collector 152 through the internal storage module of the controller 161. Or, the controller 161 can send the above detection information to the ground terminal through a wireless signal to facilitate real-time analysis and obtain the detection status of the surface and inside of the cable.

[0064] When the cable climbing robot 100 is set to a wired power supply structure, the power supply cable can be electrically connected to the controller 161 to supply power to each electrical component through the power distribution module built in the controller 161. At this time, a communication cable can also be configured synchronously with the power supply cable so that the controller 161 can quickly transmit the detection information to the ground terminal through the communication cable.

[0065] Exemplarily, as Figure 2As shown, the number of the racks 110 is two. The two racks 110 are spaced apart along the Z direction, and are supported and connected by a plurality of first connecting rods 120 therebetween to form a stable frame structure, so as to facilitate the stable installation of a preset device 140 between the two racks 110 and help reduce the structural weight of the frame body.

[0066] In some embodiments, as Figure 4 shown, the rack 110 includes a first half hoop member 112 and a second half hoop member 113. The first half hoop member 112 and the second half hoop member 113 are adjacent or spaced apart in a plane perpendicular to the first direction to form a cable through cavity 111, and the first half hoop member 112 and the second half hoop member 113 are detachably connected.

[0067] Taking the rack 110 as a centrosymmetric structure as an example, its axis is arranged parallel to the Z direction. For example, both the first half hoop member 112 and the second half hoop member 113 are annular frame structures, and a cylindrical cable through cavity 111 is formed between the first half hoop member 112 and the second half hoop member 113.

[0068] Alternatively, the first half hoop member 112 and the second half hoop member 113 can also be set as U-shaped or C-shaped frame structures to enclose a cable through cavity 111 that is open along the Z direction.

[0069] Since the first half hoop member 112 and the second half hoop member 113 are detachably connected, before the climbing operation, by disassembling the first half hoop member 112 and the second half hoop member 113, the cable to be climbed is moved between the disassembled first half hoop member and the second half hoop member 113, and then the first half hoop member 112 and the second half hoop member 113 are assembled so that the cable is located in the cable through cavity 111 between the plurality of racks 110. At this time, the length extension direction of the cable is approximately the Z direction, and the controller 161 can control the ducted propulsion assembly 130 to rotate to provide a propulsion force along the Z direction, so as to drive the cable climbing robot 100 to move quickly along the length direction of the cable.

[0070] In this way, by setting the first half hoop member 112 and the second half hoop member 113 of the rack 110 to be detachably connected, it is convenient to move the cable into the cable through cavity 111 before the operation.

[0071] Taking the number of the racks 110 as two as an example, to ensure the structural stability, the number of the first connecting rods 120 is at least four.

[0072] The two first half hoop members 112 spaced apart along the Z direction are supported and connected by two first connecting rods 120, and the two first connecting rods 120 are spaced apart along the extending direction of the first half hoop member 112 to form a stable frame structure.

[0073] As Figure 5As shown, two second half-hoops 113 spaced along the Z direction are supported and connected by two first connecting rods 120, and the two first connecting rods 120 are spaced along the extending direction of the second half-hoop 113 to form a stable frame structure.

[0074] In this way, during the process of disassembling and assembling the rack 110 to accommodate the cable, since the main structure of the cable climbing robot 100 is two detachable frame structures, the disassembly and assembly are relatively convenient. Moreover, while the two frame bodies reduce the structural weight of the cable climbing robot 100, the space inside the frame can accommodate and install the preset device 140, which not only meets the accommodation space requirement of the preset device 140, but also improves the load on the preset device 140 by reducing the weight of the frame.

[0075] In some embodiments, as Figure 2 and Figure 4 shown, the ducted propulsion assembly 130 includes a plurality of first ducted thrusters 131. At least on the outer side of the rack 110 away from the cable through cavity 111, there are first ducted thrusters 131. The plurality of first ducted thrusters 131 are spaced apart around an axis parallel to the Z direction and are connected to the rack 110 for providing a propulsion force along the first direction.

[0076] Exemplarily, two first ducted thrusters 131 can be connected to the outer side of the first half-hoop 112, and two first ducted thrusters 131 can be connected to the outer side of the second half-hoop 113.

[0077] Taking the number of racks 110 as two as an example, four first ducted thrusters 131 can be connected at intervals on the outer side of each rack 110. If the number of racks 110 is three or more, at least four first ducted thrusters 131 are respectively connected to the outer sides of the two racks 110 at the upper and lower ends.

[0078] In this way, by setting the axis of the first ducted thruster 131 parallel to the Z direction, at least eight first ducted thrusters 131 can provide sufficient propulsion force for the cable climbing robot 100. It is beneficial for the cable climbing robot 100 to climb and overhaul quickly and has sufficient redundant configuration.

[0079] Continuing to refer to Figure 2 and Figure 4 , the ducted propulsion assembly 130 further includes a plurality of second ducted thrusters 132 and a plurality of steering members 133. At least on the outer side of the rack 110 away from the cable through cavity 111, there are second ducted thrusters 132. The plurality of second ducted thrusters 132 are spaced apart around an axis parallel to the Z direction. One second ducted thruster 132 is connected to the rack 110 through one steering member 133, and the steering member 133 is used to adjust the propulsion direction of the second ducted thruster 132.

[0080] Exemplarily, two second ducted thrusters 132 are correspondingly configured for each rack 110. The two second ducted thrusters 132 can be connected to both ends of the first half hoop 112 or the second half hoop 113. It is also possible to arrange the two second ducted thrusters 132 to be connected to the first half hoop 112 and the second half hoop 113 in one-to-one correspondence, and make the rack 110 equipped with the two second ducted thrusters 132 be a centrosymmetric structure centered on the axis parallel to the Z direction.

[0081] In this way, since the second ducted thruster 132 can adjust the propulsion direction through the steering member 133, for example, the second ducted thruster 132 can provide a propulsion force along the Z direction. Alternatively, the second ducted thruster 132 can also provide a propulsion force along the vertical direction to balance part or all of the gravity of the whole machine.

[0082] Exemplarily, as Figure 3 shown, the controller 161 is electrically connected to the first ducted thruster 131, the second ducted thruster 132 and the steering member 133, and is used to control the rotation speeds of the first ducted thruster 131 and the second ducted thruster 132, and control the rotation direction and rotation angle of the steering member 133.

[0083] Among them, the controller 161 is provided with independent control channels corresponding to each first ducted thruster 131, each second ducted thruster 132 and each steering member 133, so as to adjust the running attitude of the cable climbing robot 100 through precise control.

[0084] It should be noted that each first ducted thruster 131, each second ducted thruster 132 and each steering member 133 are provided with corresponding electronic speed control modules. The electronic speed control module can be regarded as a part of the controller 161 or a part of the ducted thruster assembly 130. The electronic speed control module is used to adjust and control the drive motors of the above-mentioned rotating components, and no limitation is made on this.

[0085] Among them, for the first ducted thruster 131, the controller 161 only needs to adjust the rotation speeds of some or all of the first ducted thrusters 131 as needed to adjust the propulsion force along the Z direction.

[0086] For the second ducted thruster 132, the controller 161 not only needs to adjust the rotation speed of the second ducted thruster 132 to control the magnitude of the propulsion force. And the controller 161 also needs to adjust the direction of the second ducted thruster 132 through the steering member 133 to change the propulsion direction of the propulsion force.

[0087] Exemplarily, the second ducted thruster 132 includes at least a first propulsion state and a second propulsion state. When the second ducted thruster 132 is in the first propulsion state, the axis of the second ducted thruster 132 is parallel to the Z direction, so that the second ducted thruster 132 provides an accelerating propulsion force along the Z direction. When the second ducted thruster 132 is in the second propulsion state, the axis of the second ducted thruster 132 is arranged parallel to the vertical direction, and is used to balance part or all of the gravity of the whole machine.

[0088] Specifically, as Figure 5 and Figure 6 shown, Figure 6 is Figure 5 the partial enlarged view of the A position in Figure 4 . The steering member 133 includes a steering base 1331 and a steering motor 1332. Combining Figure 4 , the steering member further includes a direction sensor 1333. The steering base 1331 is connected to the second half hoop 113 or the frame, and the direction sensor 1333 is arranged on the second ducted thruster 132 for detecting the propulsion direction of the second ducted thruster 132. The steering motor 1332 is connected to the steering base 1331, and the output shaft of the steering motor 1332 is connected to the second ducted thruster 132 for adjusting the rotation angle of the second ducted thruster 132 around the output shaft.

[0089] Among them, the controller 161 is electrically connected to the direction sensor 1333, the steering motor 1332 and the second ducted thruster 132. The controller 161 can obtain attitude parameters such as the inclination angle and direction of the whole machine through a built-in gyroscope or direction sensor, and the controller 161 can obtain the attitude parameters or propulsion direction parameters of the corresponding second ducted thruster 132 through the direction sensor 1333. Subsequently, the controller 161 controls the steering motor 1332 to adjust the propulsion force direction of the second ducted thruster 132 according to the above parameters, so that the second ducted thruster 132 is in the first propulsion state or the second propulsion state, etc.

[0090] Among them, during the process of the cable climbing robot 100 climbing and moving along the Z direction, the cable in the cable through cavity 111 is in frictional contact with or keeps a gap from the inner wall of the frame 110.

[0091] For example, by flexibly controlling the propulsion direction and thrusters of multiple second ducted thrusters 132, the cable can be prevented from contacting and rubbing against the inner wall of the frame 110.

[0092] Or, as Figure 4 and Figure 5 shown, the cable climbing robot 100 includes a plurality of guide wheel assemblies 170. The guide wheel assemblies 170 are connected to the inner side of the frame 110 close to the cable through cavity 111, and the plurality of guide wheel assemblies 170 are arranged at intervals around an axis parallel to the Z direction (or the cable through cavity 111).

[0093] Combined with Figure 4 and Figure 7 , the guide wheel assembly 170 includes a guide wheel support arm 171, a guide wheel member 172, and a buffer member 173. The guide wheel support arm 171 is located inside the frame 110, and one end of the guide wheel support arm 171 is rotatably connected to the frame 110. The other end of the guide wheel support arm 171 is connected to the guide wheel member 172, and the guide wheel member 172 is used for rolling contact with the cable. One end of the buffer member 173 is connected to the end of the guide wheel support arm 171 close to the guide wheel member 172, and the other end of the buffer member 173 is connected to the frame 110, which is used for buffering and adjusting the extension angle of the guide wheel support arm 171.

[0094] Wherein, the included angle between the length direction of the guide wheel support arm 171 and the Z direction is the extension angle. Through the setting of the buffer member 173, the extension angle of the guide wheel support arm 171 can be flexibly compressed and adjusted, and the extension angle in the initial state is between 60° and 90°.

[0095] In this way, when the cable is located in the cable through cavity 111, through a plurality of circumferentially arranged guide wheel assemblies 170, the cable is supported and positioned in the middle area of the cable through cavity 111. During the climbing movement of the cable climbing robot 100 along the Z direction, the guide wheel member 172 makes rolling contact with the cable, having a small contact resistance, thereby avoiding frictional contact between the cable and components such as the frame 110.

[0096] That is to say, although the plurality of guide wheel assemblies 170 provided in the embodiments of the present application apply a pre-pressure to the cable in the cable through cavity 111, this pre-pressure is not used to provide the traveling frictional force of the cable climbing robot 100. That is, the plurality of guide wheel assemblies 170 in the embodiments of the present application are only used to adjust the relative avoidance of the cable in the cable through cavity 111 to avoid the contact frictional force during the relative movement between the cable and the frame 110.

[0097] Therefore, the pre-pressure applied by the guide wheel assembly 170 to the cable is small and will not further damage the cable. Moreover, through the setting of the plurality of guide wheel assemblies 170, it is also possible to avoid the contact friction between the frame 110 of the cable climbing robot 100 and the cable during the climbing process, further reducing the adverse impact on the cable during the climbing and maintenance process.

[0098] Wherein, the buffer member 173 can be a spring telescopic rod structure, or the buffer member 173 can also be a spring telescopic rod structure with a damping function. So that the inside of the cable through cavity 111 can support and adapt to cables of various diameter specifications.

[0099] In some embodiments, the cable climbing robot further includes a ranging sensor disposed on the inner side of the frame 110 near the cable through cavity 111. The ranging sensor is used to detect the distance information between the cable in the cable through cavity 111 and the frame 110. The position and attitude of the cable climbing robot 100 are adjusted according to the detected distance information to keep the cable in the middle position of the cable through cavity 111, so as to reduce the friction between the frame 110 and the cable.

[0100] Exemplarily, the ranging sensor can be a laser ranging sensor, a pressure sensor, an optical flow sensor, etc.

[0101] Optionally, the ranging sensor is disposed on the side of the guide wheel support arm 171 or the guide wheel member 172 facing the center of the cable through cavity 111. The ranging sensor measures the distance between the cable and the guide wheel member 172, so that the cable maintains a small distance from each guide wheel member 172, enabling the cable climbing robot to fly suspended relative to the cable, thus not forming friction on the cable and minimizing the adverse effects on the cable to the greatest extent. Or, when the space size enclosed by each guide wheel member 172 is smaller than the outer diameter of the cable, the cable will remain in contact with each guide wheel member 172. At this time, according to the measurement data of each ranging sensor, the attitude of the cable climbing robot 100 is adjusted so that each guide wheel member 172 exerts approximately the same pressure on the cable to avoid uneven wear, which is beneficial to reducing damage to the cable.

[0102] Specifically, the above ranging sensor can be provided on each guide wheel assembly 170, or on some of the guide wheel assemblies 170. It is only necessary to be able to determine the relative position between the cable and the guide wheel member 172. There are no restrictions on the specific installation position and quantity of the ranging sensor.

[0103] In some embodiments, as Figure 4 shown, the frame 110 further includes a first connecting member 114 and a second connecting member 115. One end of the first connecting member 114 is connected to the first end of the first half hoop member 112, and the other end of the first connecting member 114 is connected to the first end of the second half hoop member 113. At least one of the first half hoop member 112 and the second half hoop member 113 is rotatably connected to the first connecting member 114. The second end of the first half hoop member 112 is detachably connected to the second end of the second half hoop member 113 through the second connecting member 115. Among them, between the first half hoop member 112 and the second half hoop member 113, at least the length of the first connecting member 114 is an adjustable structure.

[0104] In this way, by arranging the first connecting member 114 and the second connecting member 115 between two or more racks 110. In the preparation stage of the maintenance operation, the second connecting member 115 can be disassembled so that the first half hoop member 112 or the second half hoop member 113 rotates to radially open the cable through cavity 111, facilitating the placement of the cable in the cable through cavity 111. Adjust the length of the first connecting member 114 to an appropriate state, and then assemble and connect the second ends of the first half hoop member 112 and the second half hoop member 113 through the second connecting member 115 to close the radial opening of the cable through cavity 111.

[0105] At this time, the buffer members 173 of the plurality of guide wheel assemblies 170 in the cable through cavity 111 are in a compressed state, and the guide wheel members 172 are all in pressing contact with the cable. So that a sufficient gap can be maintained between the cable and the rack 110, thereby reducing or avoiding the occurrence of contact wear between components such as the rack 110 and the cable during the climbing process of the cable climbing robot 100.

[0106] Among them, by adjusting the length dimension of the first connecting member 114 and cooperating with the guide wheel assembly 170 whose extension angle can be adjusted, the cable through cavity 111 can accommodate cables of various specifications (i.e., diameters).

[0107] In some embodiments, as Figure 8 and Figure 9 shown, the first connecting member 114 includes a first adjusting member 1141, a second adjusting member 1142 and a locking member 1143. One end of the first adjusting member 1141 is connected to the first end of one of the first half hoop member 112 and the second half hoop member 113, and one end of the second adjusting member 1142 is connected to the first end of the other of the first half hoop member 112 and the second half hoop member 113. At least one of the second adjusting member 1142 and the second half hoop member 113 and the first adjusting member 1141 and the first half hoop member 112 is rotatably connected. The locking member 1143 is connected to the first adjusting member 1141 and the second adjusting member 1142 to enable the first adjusting member 1141 and the second adjusting member 1142 to switch between a locked state and an adjusted state for adjustment.

[0108] As Figure 9 shown, at this time the locking member 1143 is in an adjusted state. The adjusted state is used to adjust the relative positions of the first adjusting member 1141 and the second adjusting member 1142 (i.e., adjust the overall length of the first adjusting member 1141 and the second adjusting member 1142) to adjust the spacing dimension between the first half hoop member 112 and the second half hoop member 113 at the first end.

[0109] Put Figure 9The handle part of the locking member 1143 shown rotates upward so that the locking member 1143 is in the locked state. The locked state is used to prevent relative movement between the first adjusting member 1141 and the second adjusting member 1142.

[0110] Exemplarily, the second adjusting member 1142 can be rotatably connected to the second half-hoop member 113, and the first adjusting member 1141 can be rotatably connected to the first half-hoop member 112, so as to facilitate rotating to open or close the cable through cavity 111.

[0111] Thus, through the arrangement of the first adjusting member 1141, the second adjusting member 1142 and the locking member 1143, the extension lengths of the first adjusting member 1141 and the second adjusting member 1142 can be flexibly adjusted by switching the locked state and the adjusted state of the locking member 1143, so as to adjust the spacing dimension between the first half-hoop member 112 and the second half-hoop member 113 at the first end, and improve the adaptation range for cables with different radial dimensions.

[0112] Specifically, as Figure 9 and Figure 10 shown, the first adjusting member 1141 is provided with a plugging groove 1144 along its length direction, and the second adjusting member 1142 is inserted into the plugging groove 1144 along the length direction of the first adjusting member 1141. The locking member 1143 is sleeved outside the first adjusting member 1141, and the moving part of the locking member 1143 is used to squeeze the second adjusting member 1142 or the first adjusting member 1141.

[0113] When the locking member 1143 is in the locked state, the moving part of the locking member 1143 causes the first adjusting member 1141 and the second adjusting member 1142 to be in squeezing contact, so as to prevent the second adjusting member 1142 from sliding in the plugging groove 1144 along the length direction, and keep a stable spacing between the first half-hoop member 112 and the second half-hoop member 113 at the first end.

[0114] When the locking member 1143 is in the adjusted state, the first adjusting member 1141 and the second adjusting member 1142 are disengaged from the squeezing contact state, that is, the second adjusting member 1142 can slide in the plugging groove 1144 along the length direction to adjust the spacing dimension between the first half-hoop member 112 and the second half-hoop member 113 at the first end.

[0115] Exemplarily, as Figure 9 and Figure 10 shown, the locking member 1143 includes a locking main body 11431 and a handle part 11432. The locking main body 11431 is rotatably connected to the handle part 11432, and there is a squeezing groove between the two. The first adjusting member 1141 and the second adjusting member 1142 inserted and installed along the length direction are located in the squeezing groove.

[0116] As Figure 9As shown, the handle portion 11432 is in the adjustment state at this time, that is, the first adjustment member 1141 and the second adjustment member 1142 in the extrusion groove are not extruded by the handle portion 11432. When the handle portion 11432 rotates clockwise to switch to the locking state, the first adjustment member 1141 and the second adjustment member 1142 in the extrusion groove are extruded by the handle portion 11432 to prevent the two from sliding and adjusting along the length direction.

[0117] Continue to refer to Figure 9 and Figure 10 The locking member 1143 may further include at least one of a first cushion block 11433 and a second cushion block 11434.

[0118] The second cushion block 11434 is located between the handle portion 11432 and the first adjustment member 1141, and a groove is provided at the position corresponding to the rotating shaft of the handle portion 11432 on the second cushion block 11434, so as to fill the gap between the handle portion 11432 and the first adjustment member 1141 through the second cushion block 11434, and enable the handle portion 11432 in the locking state to extrude the first adjustment member 1141 through the second cushion block 11434.

[0119] The first cushion block 11433 and the handle portion 11432 are located on opposite sides of the first adjustment member 1141, and the first cushion block 11433 is located at the opening of the insertion groove 1144. So that the handle portion 11432 in the locking state can extrude the second adjustment member 1142 through the first cushion block 11433.

[0120] During the installation of the first connecting member 114, the first adjustment member 1141 and the second adjustment member 1142 can be directly rotatably connected to the first half hoop member 112 and the second half hoop member 113.

[0121] Or, as Figure 9 and Figure 10 shown, the first connecting member 114 further includes a positioning member 1145. Combining Figure 8 The first adjustment member 1141 is rotatably connected to the first half hoop member 112 through a positioning member 1145, and the second adjustment member 1142 is rotatably connected to the second half hoop member 113 through a positioning member 1145. So that the first half hoop member 112 and the second half hoop member 113 can be rotatably arranged around an axis parallel to the Z direction.

[0122] In some embodiments, such as Figure 11 and Figure 12As shown, the second connecting member 115 includes a first hook 1151, a locking member 1152, and a hook connecting member 1153. One of the first half-hoop member 112 and the second half-hoop member 113 is connected to the first hook 1151 at the second end. The other of the first half-hoop member 112 and the second half-hoop member 113 is connected to the locking member 1152 at the second end. One end of the hook connecting member 1153 is connected to the locking member 1152. The locking member 1152 has a locked state and an open state, and is used to switch the other end of the hook connecting member 1153 between a hooked state and a disengaged state with the first hook 1151.

[0123] Exemplarily, the first hook 1151 is connected to the second half-hoop member 113, and the locking member 1152 is connected to the first half-hoop member 112, so as to realize the detachable connection between the first half-hoop member 112 and the second half-hoop member 113, facilitating the placement of the cable in the cable through cavity 111.

[0124] Referring to Figure 11 、 Figure 12 and Figure 13 and, the locking member 1152 includes a fixing portion 11521, a positioning portion 11522, an adjusting portion 11523, and a fitting portion 11524. The corresponding one of the first half-hoop member 112 and the second half-hoop member 113 is connected to the fixing portion 11521 at the second end, and the positioning portion 11522 is connected to the fixing portion 11521. The adjusting portion 11523 is rotatably connected to the fixing portion 11521 to rotate and switch between the locked state and the open state. The fitting portion 11524 is rotatably connected to the adjusting portion 11523, and the end of the hook connecting member 1153 away from the first hook 1151 in the hooked state is connected to the fitting portion 11524, so that the hook connecting member 1153 can rotate relative to the adjusting portion 11523.

[0125] When the adjusting portion 11523 is in the open state, one end of the hook connecting member 1153 is disengaged from the first hook 1151, and the other end of the hook connecting member 1153 is disposed away from the positioning portion 11522.

[0126] When the adjusting portion 11523 is in the locked state, one end of the hook connecting member 1153 is hooked to the first hook 1151, and the other end of the hook connecting member 1153 is disposed close to the positioning portion 11522. At this time, the adjusting portion 11523 rotates to the positioning portion 11522 to limit the adjusting portion 11523 from disengaging from the locked state through the positioning portion 11522.

[0127] In this way, by rotating and adjusting to switch the locked state and the open state of the adjusting portion 11523, the hooked state and the disengaged state of the rotatably connected hook connecting member 1153 are adjusted, facilitating the user to set the cable in the cable through cavity 111.

[0128] Among them, the positioning part 11522 can be clamped with the adjusting part 11523 to release the adjusting part 11523 from the locked state. Alternatively, a bolt or a buckle can be provided at the positioning part 11522 to prevent the adjusting part 11523 from being disengaged from the locked state.

[0129] Exemplarily, as Figure 13 shown, the adapter part 11524 is provided with a threaded hole 11525, and one end of the hook connecting part 1153 for connecting the adapter part 11524 is provided with an external thread adapted to the threaded hole 11525 for adjusting the insertion depth of the hook connecting part 1153 into the threaded hole 11525.

[0130] In this way, through the adapted connection between the hook connecting part 1153 and the threaded hole 11525 at the adapter part 11524, it is convenient to adjust the telescopic length of the hook connecting part 1153 by rotating the hook connecting part 1153. Thus, the distance dimension between the first hook 1151 and the locking part 1152 in the locked state is adjusted.

[0131] Exemplarily, the axis of rotation of the adapter part 11524 relative to the adjusting part 11523 and the axis of rotation of the adjusting part 11523 relative to the fixed part 11521 are approximately parallel. The axial direction of the threaded hole 11525 is perpendicular to the axis of rotation direction of the adapter part 11524 relative to the adjusting part 11523.

[0132] That is to say, at the first end and the second end of the first half hoop 112 and the second half hoop 113, through the first connecting part 114 and the second connecting part 115, the distance dimension between the first half hoop 112 and the second half hoop 113 can be adjusted, so as to be adapted to cables with multiple diameter specifications.

[0133] In the above embodiment, the hook connecting part 1153 can be a rod-shaped structure with a hook or a snap ring, or a strip-shaped structure or a sheet-shaped structure provided with a hook or a snap hole.

[0134] In some other embodiments, the hook connecting part 1153 can be partially or entirely provided as an elastic telescopic structure.

[0135] Among them, at the first hook 1151, it is necessary to set the first hook 1151 to have a relatively large groove depth, so that the hook connecting part 1153 has a relatively large moving stroke between the hooked state and the released state, thereby improving the stability of the second connecting part 115 in the locked state.

[0136] It should be noted that within the cable through cavity 111, since the guide wheel assembly 170 can elastically rotate under the action of the buffer member 173 to adapt to cables of different diameter specifications, so that the cable is stably located in the middle area of the cable through cavity 111. On this basis, by setting the first connecting member 114 and the second connecting member 115 to be telescopically adjustable, the adaptation range for cables with larger radial dimensions can be further improved. For example, the cable climbing robot 100 of the embodiment of the present application can adapt to cables with a diameter size between 80 mm and 200 mm.

[0137] Moreover, since the guide wheel assembly 170 within the cable through cavity 111 has a buffering function, and there is a large gap between the cable and the inner wall of the frame 110. Even if there are protrusions such as foreign objects or fixed structures along the radial direction of the cable, it will not affect the climbing progress of the cable climbing robot 100. For example, it can easily cross the protruding obstacles within 20 mm along the radial direction on the cable.

[0138] In some embodiments, as Figure 2 and Figure 4 shown, the cable climbing robot 100 further includes an anti-falling assembly 180. The anti-falling assembly 180 is arranged towards the cable through cavity 111, and the anti-falling assembly 180 has an initial state and an anti-falling state. When the anti-falling assembly 180 is in the anti-falling state, the anti-falling assembly 180 is used to squeeze and contact the cable to prevent the cable climbing robot 100 from falling.

[0139] Among them, the controller 161 is electrically connected to the anti-falling assembly 180 for supplying power to the anti-falling assembly 180. And the controller 161 is also used to switch and adjust the initial state and the anti-falling state of the anti-falling assembly 180.

[0140] Exemplarily, when a part of the structure of the cable climbing robot 100 fails or there is an accidental power outage, the anti-falling assembly 180 switches to the anti-falling state to squeeze the basic cable, thereby preventing the cable climbing robot 100 from falling. In this way, through the setting of the anti-falling assembly 180, the crash accident of the cable climbing robot 100 in case of an accident can be avoided.

[0141] Specifically, as Figure 14 and Figure 15 shown, the anti-falling assembly 180 includes an anti-falling bracket 181, anti-falling claws 182, a support rod 183, an anti-falling motor 184, and a spring member 185. The anti-falling bracket 181 is connected to the frame 110 (such as Figure 2It is connected to the shown part or the first connecting rod 120. One end of the anti-falling support rod 183 is connected to the anti-falling claw 182, and the other end of the anti-falling support rod 183 passes through the anti-falling support 181. The anti-falling motor 184 and the anti-falling claw 182 are located on opposite sides of the anti-falling support 181, and the anti-falling motor 184 is connected to the anti-falling support rod 183. Along the length direction of the anti-falling support rod 183, the anti-falling motor 184 is used to adjust the distance between the anti-falling claw 182 and the anti-falling support 181. The spring member 185 is sleeved on the anti-falling support rod 183 and is compressively arranged between the anti-falling claw 182 and the anti-falling support 181.

[0142] The anti-falling motor 184 controls the anti-falling assembly 180 to be in the initial state, so that the anti-falling claw 182 is arranged close to the anti-falling support 181 along the length direction of the anti-falling support rod 183. When the anti-falling assembly 180 is in the anti-falling state, the spring member 185 is in a compressed state, and the anti-falling claw 182 extends out and is used to squeeze and contact the cable.

[0143] Exemplarily, as Figure 3 shown, the anti-falling motor 184 is electrically connected to the controller 161, so that the controller 161 can control the anti-falling assembly to switch and adjust between the initial state and the anti-falling state through the anti-falling motor 184.

[0144] Both ends of the anti-falling support 181 can be circumferentially connected between two adjacent first connecting rods 120.

[0145] For example, the controller 161 controls the anti-falling motor 184 to be powered on, so that the anti-falling motor 184 rotates and compresses the spring member 185 through the anti-falling support rod 183. The rotating anti-falling motor 184 can also drive the anti-falling claw 182 to move towards the anti-falling support 181 through the anti-falling support rod 183 until it moves to the initial state. In the initial state, the initial state can be maintained by continuously powering on the anti-falling motor 184, or the anti-falling assembly 180 can be kept in the initial state through other electric control limiting structures.

[0146] When the cable climbing robot 100 accidentally loses power or needs to hover, the controller 161 can disconnect the power supply of the anti-falling motor 184, or control the direction of the anti-falling motor to rotate. Under the action of the spring member 185, the anti-falling support rod 183 drives the anti-falling claw 182 to extend towards the cable, so that the anti-falling claw 182 squeezes and contacts the cable, thereby preventing the cable climbing robot 100 from sliding down along the length direction of the cable.

[0147] Among them, the number of the anti-falling assemblies 180 can be set to two. One anti-falling assembly 180 is connected to one side of the first half hoop 112, and the other anti-falling assembly 180 is connected to one side of the second half hoop 113. So that the two anti-falling assemblies 180 in the anti-falling state squeeze and clamp the opposite sides of the cable in the radial direction, thereby preventing the cable climbing robot 100 from falling.

[0148] It should be noted that in the embodiments of the present application, since the thrust direction of the second ducted thruster 132 can be adjusted, the gravity of the cable climbing robot 100 during hovering can also be balanced by the second ducted thruster 132. That is, the anti-falling component 180 can be regarded as a multi-layer protection structure, improving the protection means of the cable climbing robot 100 in case of accidents.

[0149] In some embodiments, such as Figure 6 shown, the second half hoop 113 includes a second upper frame plate 1131, a second lower frame plate 1132 and a second fixing seat 1133. The second fixing seat 1133 is supported between the second upper frame plate 1131 and the second lower frame plate 1132 along the Z direction, and the number of the second fixing seats 1133 is at least two. To form the second half hoop 113 with a frame structure, which is light in weight and high in structural strength.

[0150] Correspondingly, the first half hoop 112 includes a first upper frame plate, a first lower frame plate and a first fixing seat. The first fixing seat is supported between the first upper frame plate and the first lower frame plate along the Z direction, and the number of the first fixing seats is at least two. To form the first half hoop 112 with a frame structure, which is light in weight and high in structural strength.

[0151] Exemplarily, the first upper frame plate, the first lower frame plate, the second upper frame plate 1131 and the second lower frame plate 1132 can be aluminum alloy plates or carbon fiber plates. The first fixing seat and the second fixing seat 1133 can be made of aluminum alloy. They are light in weight and high in structural strength.

[0152] Based on this, between two first half hoops 112 spaced along the Z direction, at least two first connecting rods 120 are inserted and installed with the first fixing seats along the Z direction, having a high contact area and connection strength. Correspondingly, between two second half hoops 113 spaced along the Z direction, at least two first connecting rods 120 are inserted and installed with the second fixing seats 1133 along the Z direction, having a high contact area and connection strength.

[0153] In this way, during the process of connecting the various main components of the cable climbing robot 100 at the frame 110, a connection seat or a connection body can be arranged between the corresponding upper frame plate and the lower frame plate. Or connect with the corresponding first fixing seat or the second fixing seat 1133 to improve the connection strength.

[0154] During the specific use process, the second connectors 115 at the two racks 110 at the upper and lower ends are adjusted to the open state. Rotate the first half hoop 112 or the second half hoop 113 to open the cable through cavity 111, and move the cable climbing robot 100 to place the cable in the cable through cavity 111. During this process, adjust the telescopic lengths of the first connector 114 and the second connector 115 to appropriate positions. Subsequently, rotate the first half hoop 112 or the second half hoop 113 in the reverse direction, and adjust the second connector 115 to the locked state to close the cable through cavity 111.

[0155] At this time, inside the cable through cavity 111, the four upper guide wheel assemblies 170 are distributed at intervals of 90° around the cable, that is, two guide wheel assemblies 170 are connected to the inner side of the first half hoop 112, and two guide wheel assemblies 170 are connected to the inner side of the second half hoop 113. Inside the inner side of the lower rack 110, the four guide wheel assemblies 170 are also distributed at intervals of 90° around the cable, that is, two guide wheel assemblies 170 are connected to the inner side of the first half hoop 112, and two guide wheel assemblies 170 are connected to the inner side of the second half hoop 113. Through the arrangement of a plurality of buffer members 173, the guide wheels 172 of the eight guide wheel assemblies 170 are in pressing contact with the cable, so as to position the cable in the middle area of the cable through cavity 111, so that the cable is spaced from other structures on the inner wall of the rack 110.

[0156] The number of the first ducted thrusters 131 is eight, and four first ducted thrusters 131 are connected to the outer sides of the upper and lower two racks 110. Start the first ducted thrusters 131 to provide a propulsive force in the Z direction so that the cable climbing robot 100 climbs and travels along the cable. At this time, inside the cable through cavity 111, a plurality of guide wheels 172 are in rolling contact with the cable, having a small traveling resistance, and preventing other structures on the inner wall of the rack 110 from contacting and damaging the cable.

[0157] During the process of the cable climbing robot 100 climbing and traveling, the appearance images of the cable can be collected and analyzed by four image collectors 152 arranged on the upper side. And, the preset device 140 can be equipped with a flaw detector 142 to perform flaw detection on the internal structure of the cable, and the detection effect is better. And, in the case of carrying a flaw detector 142 with a large mass, a large propulsive force can be provided by the eight first ducted thrusters 131, and a long endurance state can be maintained in cooperation with the wired power supply mode.

[0158] Among them, if the cable climbing robot 100 needs to hover, the propulsive force direction can be adjusted by the four second ducted thrusters 132 to provide a lifting force to balance the gravity of the whole machine.

[0159] It should be noted that the anti-falling component 180 can also implement the hovering function of the cable climbing robot 100. For example, the cable can be squeezed and clamped by the anti-falling component 180 to prevent the cable climbing robot 100 from sliding down. However, the anti-falling component 180 is mainly used for emergency startup in case of power failure or malfunction.

[0160] Exemplarily, a buffer cushion layer, such as a rubber pad, can be provided on the inner side of the anti-falling claw 182 away from the anti-falling motor 184. So that the anti-falling claw 182 in the anti-falling state can reduce the extrusion damage to the cable, and the buffer cushion layer can also provide a large static friction force to improve the anti-falling effect.

[0161] In the description of this specification, the descriptions with reference to terms such as "embodiment", "example", "some embodiments", "example", "exemplary", "for example", etc. mean that the specific features, structures, shapes, positions, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0162] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A cable climbing robot, characterized in that, Including: Multiple racks (110), the multiple racks (110) are spaced apart along a first direction, and the racks (110) are provided with cable through cavities (111) along the first direction; A first connecting rod (120), the first connecting rod (120) fixedly connects the multiple racks (110) along the first direction, and preset devices (140) are to be installed between the multiple racks (110); and A ducted propulsion assembly (130), connected to at least one of the rack (110) and the first connecting rod (120), and the ducted propulsion assembly (130) is at least used to provide a propulsion force along the first direction.

2. The cable climbing robot according to claim 1, characterized in that, The rack (110) includes: A first half hoop (112); and A second half hoop (113), the first half hoop (112) and the second half hoop (113) are adjacent or spaced apart in a plane perpendicular to the first direction, and the first half hoop (112) and the second half hoop (113) are detachably connected to form the cable through cavity (111).

3. The cable climbing robot according to claim 2, wherein The rack (110) further includes: A first connecting member (114), one end of the first connecting member (114) is connected to the first end of the first half hoop (112), the other end of the first connecting member (114) is connected to the first end of the second half hoop (113), and at least one of the first half hoop (112) and the second half hoop (113) is rotatably connected to the first connecting member (114); and A second connecting member (115), the second end of the first half hoop (112) is detachably connected to the second end of the second half hoop (113) through the second connecting member (115); Wherein, between the first half hoop (112) and the second half hoop (113), at least the length of the first connecting member (114) is an adjustable structure.

4. The cable climbing robot according to claim 3, characterized in that, The first connecting member (114) includes: A first adjusting member (1141), one end of the first adjusting member (1141) is connected to the first end of one of the first half hoop (112) and the second half hoop (113); A second adjusting member (1142), one end of the second adjusting member (1142) is connected to the first end of the other of the first half hoop (112) and the second half hoop (113), and at least one of between the second adjusting member (1142) and the second half hoop (113) and between the first adjusting member (1141) and the first half hoop (112) is rotatably connected; and A locking member (1143), the locking member (1143) is connected to the first adjusting member (1141) and the second adjusting member (1142) to enable the first adjusting member (1141) and the second adjusting member (1142) to switch between a locked state and an adjusted state for adjustment; The adjustment state is used to adjust the relative positions of the first adjusting member (1141) and the second adjusting member (1142) so as to adjust the spacing dimension between the first half hoop member (112) and the second half hoop member (113) at the first end; the locking state is used to prevent relative movement between the first adjusting member (1141) and the second adjusting member (1142).

5. The cable climbing robot according to claim 4, characterized in that, The first adjusting member (1141) is provided with a plugging groove (1144) along the length direction, and the second adjusting member (1142) is inserted into the plugging groove (1144) along the length direction of the first adjusting member (1141); The locking member (1143) is sleeved outside the first adjusting member (1141), and the moving part of the locking member (1143) is used to contact the second adjusting member (1142); When the locking member (1143) is in the locking state, the moving part of the locking member (1143) causes the first adjusting member (1141) and the second adjusting member (1142) to be in extrusion contact; When the locking member (1143) is in the adjustment state, the first adjusting member (1141) and the second adjusting member (1142) are out of the extrusion contact state.

6. The cable climbing robot according to any one of claims 3-5, characterized in that, The second connecting member (115) includes: A first hook (1151), one of the first half hoop member (112) and the second half hoop member (113) is connected to the first hook (1151) at the second end; A locking member (1152), the other of the first half hoop member (112) and the second half hoop member (113) is connected to the locking member (1152) at the second end; and A hook connecting member (1153), one end of the hook connecting member (1153) is connected to the locking member (1152); Wherein, the locking member (1152) has a locking state and an opening state, and is used to switch and adjust the other end of the hook connecting member (1153) between a hooked state and a loosened state with the first hook (1151).

7. The cable climbing robot according to claim 6, wherein The locking member (1152) includes: A fixing part (11521), the corresponding one of the first half hoop member (112) and the second half hoop member (113) is connected to the fixing part (11521) at the second end; A positioning part (11522), the positioning part (11522) is connected to the fixing part (11521); An adjusting part (11523), the adjusting part (11523) is rotatably connected to the fixing part (11521) to rotatably switch between the locking state and the opening state; and An adapting part (11524), the adapting part (11524) is rotatably connected to the adjusting part (11523), and the end of the hook connecting member (1153) far from the first hook (1151) is connected to the adapting part (11524); When the adjusting part (11523) is in the open state, one end of the hook connecting part (1153) is disengaged from the first hook (1151), and the other end of the hook connecting part (1153) is arranged away from the positioning part (11522). When the adjusting part (11523) is in the locking state, one end of the hook connecting part (1153) is hooked to the first hook (1151), and the other end of the hook connecting part (1153) is arranged close to the positioning part (11522).

8. The cable climbing robot according to claim 7, wherein The adapting part (11524) is provided with a threaded hole (11525). One end of the hook connecting part (1153) for connecting the adapting part (11524) is provided with an external thread adapted to the threaded hole (11525) for adjusting the insertion depth of the hook connecting part (1153) into the threaded hole (11525).

9. The cable climbing robot according to any one of claims 1-5, characterized in that, The cable climbing robot further includes: A ranging sensor is arranged on the inner side of the frame (110) close to the cable through cavity (111). The ranging sensor is used to detect the distance information between the cable in the cable through cavity (111) and the frame (110).

10. The cable climbing robot according to any one of claims 1-5, characterized in that, The cable climbing robot includes a plurality of guide wheel assemblies (170). The guide wheel assemblies (170) are connected to the inner side of the frame (110) close to the cable through cavity (111), and the plurality of guide wheel assemblies (170) are arranged at intervals around an axis parallel to the first direction. The guide wheel assembly (170) includes: A guide wheel support arm (171). The guide wheel support arm (171) is located inside the frame (110), and one end is rotatably connected to the frame (110). A guide wheel member (172). The other end of the guide wheel support arm (171) is connected to the guide wheel member (172). The guide wheel member (172) is used for rolling contact with the cable; and A buffer member (173). One end of the buffer member (173) is connected to one end of the guide wheel support arm (171) close to the guide wheel member (172), and the other end of the buffer member (173) is connected to the frame (110) for buffering and adjusting the extension angle of the guide wheel support arm (171).

11. The cable climbing robot according to any one of claims 1-5, characterized in that, The ducted propulsion assembly (130) includes: A plurality of first ducted thrusters (131). At least the outer side of the frame (110) away from the cable through cavity (111) is provided with the first ducted thrusters (131). The plurality of first ducted thrusters (131) are distributed at intervals around an axis parallel to the first direction and are connected to the frame (110) for providing a propulsion force along the first direction.

12. The cable climbing robot according to any one of claims 1-5, characterized in that, The ducted propulsion assembly (130) includes: A plurality of second ducted thrusters (132). At least the outer side of the frame (110) away from the cable through cavity (111) is provided with the second ducted thrusters (132). The plurality of second ducted thrusters (132) are distributed at intervals around an axis parallel to the first direction; and A plurality of steering members (133), one of the second ducted thrusters (132) is connected to the frame (110) through one of the steering members (133), and the steering member (133) is used to adjust the propulsion direction of the second ducted thruster (132).

13. The cable climbing robot according to claim 12, characterized in that, The steering member (133) includes: A steering base (1331), the steering base (1331) is connected to the frame (110); A direction sensor (1333), which is arranged on the second ducted thruster (132) and is used to detect the propulsion direction of the second ducted thruster (132), and A steering motor (1332), the steering motor (1332) is connected to the steering base (1331), and the output shaft of the steering motor (1332) is connected to the second ducted thruster (132), and is used to adjust the rotation angle of the second ducted thruster (132) around the output shaft.

14. The cable climbing robot according to any one of claims 1-5, characterized in that, The cable climbing robot further includes: An anti-falling assembly (180), which is arranged towards the cable through cavity (111), and the anti-falling assembly (180) has an initial state and an anti-falling state; when the anti-falling assembly (180) is in the anti-falling state, the anti-falling assembly (180) is used to squeeze and contact the cable to prevent the cable climbing robot from falling; and A controller (161), the controller (161) is electrically connected to the anti-falling assembly (180), the preset device (140) and the ducted thruster assembly (130), and the controller (161) is used to control the anti-falling assembly (180) to switch and adjust between the initial state and the anti-falling state.

15. The cable climbing robot according to claim 14, characterized in that, The anti-falling assembly (180) includes: An anti-falling bracket (181), the anti-falling bracket (181) is connected to the frame (110) or the first connecting rod (120); An anti-falling claw (182); A support rod (183), one end of the support rod (183) is connected to the anti-falling claw (182), and the other end of the support rod (183) passes through the anti-falling bracket (181); An anti-falling motor (184), the anti-falling motor (184) and the anti-falling claw (182) are located on opposite sides of the anti-falling bracket (181), and the anti-falling motor (184) is connected to the support rod (183); along the length direction of the support rod (183), the anti-falling motor (184) is used to adjust the distance between the anti-falling claw (182) and the anti-falling bracket (181); and A spring member, the spring member is sleeved on the support rod (183) and is compressively arranged between the anti-falling claw (182) and the anti-falling bracket (181); When the anti-falling assembly (180) is in the anti-falling state, the spring member is in a compressed state, and the anti-falling claw (182) is used to squeeze and contact the cable; when the anti-falling assembly (180) is in the initial state, the anti-falling claw (182) is arranged close to the anti-falling bracket (181) along the length direction of the support rod (183).

16. The cable climbing robot according to claim 14, wherein, The cable climbing robot is a wired power supply structure; or, The preset device (140) includes a battery module (141), and the battery module (141) supplies power to the ducted propulsion assembly (130) and the anti-falling assembly (180) through the controller (161).

17. The cable climbing robot according to any one of claims 1-5, characterized in that, The preset device (140) includes: A flaw detector (142) for detecting flaws inside the cable.

18. The cable climbing robot according to any one of claims 1-5, characterized in that, The cable climbing robot further includes an image detection assembly (150), and the image detection assembly (150) includes: A plurality of first brackets (151) connected to the frame (110) or the first connecting rod (120); and A plurality of image collectors (152), one image collector (152) is correspondingly arranged with one first bracket (151), and the image collector (152) is connected to the first bracket (151) for collecting image information of the cable.

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