Cable-climbing robot

Abstract

The present application discloses a cable climbing robot, which relates to the technical field of cable detection equipment. It aims to solve the problem of secondary damage to the cable caused by the large pre-pressure applied to the cable by the cable robot during the climbing operation. The cable climbing robot includes a plurality of racks, a first connecting rod and a ducted propulsion assembly. The plurality of racks are spaced apart along the first direction, and the racks are provided with cable passage cavities along the first direction. The first connecting rod is fixedly connected to the plurality of racks along the first direction, and preset equipment is installed between the plurality of racks. The ducted propulsion assembly is connected to at least one of the rack and the first connecting rod, and the ducted propulsion assembly is at least used to provide propulsion along the first direction. It can reduce or avoid the pre-pressure applied to the cable during the maintenance process, so as to avoid secondary damage such as scratches or wear on the cable during the maintenance operation, which is beneficial to improving the stability and service life of the cable.

Description

Technical Field

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

[0002] In modern bridge construction, whether cable-stayed or suspension bridges, the deck is lifted by cables. These cables bear the weight of the bridge deck and are crucial load-bearing components. Bearing the weight of the bridge for extended periods, as well as enduring the complex demands of the natural environment, such as wind, rain, and sun, cables are prone to surface corrosion and internal wire breakage. Therefore, regular cable inspection and maintenance, including flaw detection, are essential.

[0003] During cable inspection and flaw detection, a climbing robot is often used to carry the inspection equipment along the length of the cable. However, whether it is a wheeled, tracked, or bionic cross-arm climbing robot, all rely on friction between the drive mechanism and the cable surface to achieve ascent and descent. This means that during the climbing process, the climbing robot must apply a significant preload to the cable, which can easily damage the cable surface. Summary of the Invention

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

[0005] Embodiments of the present application provide a cable-climbing robot comprising a plurality of frames, a first connecting rod, and a ducted propulsion assembly. The plurality of frames are spaced apart along a first direction, each frame having a cable passageway along the first direction. The first connecting rod securely connects the plurality of frames along the first direction, and predetermined equipment is mounted between the plurality of frames. The ducted propulsion assembly is connected to at least one of the frames and the first connecting rod, and is configured to provide at least one propulsion force along the first direction.

[0006] Beneficial Effects: The first connecting rod fixedly connected between the multiple racks ensures a stable connection of the entire cable climbing robot and allows the space between two adjacent racks along the first direction to accommodate the installation of preset equipment such as photography, flaw detection, or batteries. During cable maintenance operations using the aforementioned cable climbing robot, the cable is placed in the cable passage cavities of the multiple racks, allowing the cable climbing robot to travel along the length of the cable in the first direction. During this process, the ducted propulsion assembly provides propulsion force along the first direction to the cable climbing robot, thereby propelling the cable climbing robot to quickly travel along the length of the cable in the first direction. In this way, during cable climbing and maintenance operations using the cable climbing robot of the embodiment of the present application, there is no need for the cable climbing robot to apply a large pre-load to the cable to provide friction for climbing. This greatly reduces or avoids the pre-load applied to the cable during the maintenance process, thereby avoiding secondary damage such as scratches or wear to the cable during the maintenance operation, and is beneficial for improving the stability and service life of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

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

[0009] Figure 2 for Figure 1 A side view of the cable climbing robot shown;

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

[0011] Figure 4 for Figure 1 A top view of the cable climbing robot shown;

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

[0013] Figure 6 for Figure 5 A partial enlarged view of point A in the middle;

[0014] Figure 7 for Figure 4 A partial enlarged schematic diagram of the guide wheel assembly shown in FIG;

[0015] Figure 8 for Figure 4 A partial enlarged schematic diagram of the first connecting member shown in FIG;

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

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

[0018] Figure 11 for Figure 4 A partial enlarged schematic diagram of the second connecting member is shown in ;

[0019] Figure 12 for Figure 4 Another partial enlarged schematic diagram of the second connecting member is shown in ;

[0020] Figure 13 for Figure 12 An exploded view of the locking member and the hook connector in a locked state;

[0021] Figure 14 for Figure 2 A schematic diagram of a three-dimensional structure of the anti-fall assembly shown in ;

[0022] Figure 15 for Figure 14 A cross-sectional view of the fall prevention assembly shown.

[0023] Description of reference numerals:

[0024] 100. Cable climbing robot;

[0025] 110. Frame; 111. Cable passage cavity; 112. First hoop half; 113. Second hoop half; 1131. Second upper frame plate; 1132. Second lower frame plate; 1133. Second fixing seat; 114. First connecting member; 1141. First adjusting member; 1142. Second adjusting member; 1143. Locking member; 11431. Locking body; 11432. Handle; 11433. First cushion block; 11434. Second cushion block; 1144. Insertion slot; 1145. Positioning member; 115. Second connecting member; 1151. First hook; 1152. Locking member; 11521. Fixing portion; 11522. Positioning portion; 11523. Adjusting portion; 11524. Adapter portion; 11525. Threaded hole; 1153. Hook connecting member;

[0026] 120. First connecting rod;

[0027] 130. Ducted propulsion assembly; 131. First ducted propeller; 132. Second ducted propeller; 133. Steering member; 1331. Steering base; 1332. Steering motor; 1333. Direction sensor;

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

[0029] 150. Image detection component; 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-fall assembly; 181. Anti-fall bracket; 182. Anti-fall claw; 183. Support rod; 184. Anti-fall motor; 185. Spring component. DETAILED DESCRIPTION

[0033] In order to make the purpose and implementation of this application clearer, the exemplary implementation of this application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only part of the embodiments of this application, not all of the embodiments.

[0034] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0035] It should be noted that in actual applications, due to limitations in equipment precision or installation errors, absolute parallelism or perpendicularity is difficult to achieve. The descriptions of perpendicularity, parallelism, or co-orientation in this application are not absolute limiting conditions, but rather indicate that a perpendicular or parallel structure can be achieved within a predetermined error range (e.g., a 5° deviation above or below) and achieve the corresponding predetermined effect. This maximizes the technical effect of the defined features, facilitates implementation of the corresponding technical solution, and enhances feasibility.

[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 number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0037] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may 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. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0039] The disclosure of the present application provides many different embodiments or examples for realizing the different structures of the present application. In order 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 merely examples, and the purpose is not to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides various specific process and material examples, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0040] In modern bridge construction, whether cable-stayed or suspension bridges, the deck is lifted by cables. These cables bear the weight of the bridge deck and are crucial load-bearing components. Bearing the weight of the bridge for extended periods, as well as enduring the complex demands of the natural environment, such as wind, rain, and sun, cables are prone to surface corrosion and internal wire breakage. Therefore, regular cable maintenance, including inspection and flaw detection, is essential.

[0041] During the inspection and flaw detection of cables, a climbing robot is usually used to carry the inspection equipment and climb along the length of the cable for inspection. 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 up and down climbing. That is, during the climbing process, the climbing robot needs to apply a large pre-pressure to the cable, which can easily cause damage to the cable surface. Based on this, an embodiment of the present application provides a cable climbing robot, which aims to solve the problem of cable damage caused by the large pre-pressure applied to the cable by the cable robot during the climbing operation. The following is combined with Figures 1 to 15 The cable climbing robot according to the embodiment of the present application is described in detail.

[0042] like Figure 1 and Figure 2 As shown, the cable climbing robot 100 provided in an embodiment of the present application includes a plurality of racks 110, a first connecting rod 120, and a ducted propulsion assembly 130. The plurality of racks 110 are spaced apart along a first direction (e.g., the Z direction), and the racks 110 are provided with cable passage cavities 111 along the Z direction, so that the cable passage cavities 111 between the plurality of racks 110 spaced apart along the Z direction are used to pass cables. The first connecting rod 120 is fixedly connected to the plurality of racks 110 along the Z direction, and a preset device 140 is installed between the plurality of racks 110. The ducted propulsion assembly 130 is connected to at least one of the racks 110 and the first connecting rod 120, and the ducted propulsion assembly 130 is used to provide at least a propulsion force along the Z direction.

[0043] The first connecting rod 120, which is fixedly connected between the multiple racks 110, ensures a stable connection of the entire cable-climbing robot 100 and allows the space between two adjacent racks 110 along the first direction to accommodate the installation of preset equipment such as photography, flaw detection, or batteries. During the process of using the cable-climbing robot 100 to perform cable maintenance operations, the cable is placed in the cable passage 111 of the multiple racks 110, so that the cable-climbing robot 100 can travel along the length of the cable in the first direction. During this process, the ducted propulsion assembly 130 provides the cable-climbing robot 100 with a propulsion force in the first direction, thereby propelling the cable-climbing robot 100 to move rapidly along the length of the cable in the first direction. In this way, during the process of climbing and inspecting the cable using the cable climbing robot 100 of the embodiment of the present application, there is no need to apply a large pre-pressure to the cable through the cable climbing robot 100 to provide friction for climbing, thereby greatly reducing or avoiding the pre-pressure applied to the cable during the inspection process, so as to avoid secondary damage such as scratches or wear to the cable during the inspection operation, which is beneficial to improving the stability and service life of the cable.

[0044] Furthermore, since the cable climbing robot 100 of the embodiment of the present application has no contact with the cable or has little contact resistance with the cable during the climbing process, the entire machine can achieve a higher climbing speed under the same propulsion force, which is beneficial to improving maintenance work efficiency and reducing maintenance work time.

[0045] The cable-climbing robot 100 provided in this embodiment of the present application has multiple power supply methods. For example, the pre-set device 140 may include a battery module, namely, one or more battery modules disposed between two racks 110 spaced apart along a first direction, to power the ducted propulsion assembly 130 and other components. This allows the cable-climbing robot 100 to be flexible and unrestricted by power supply scenarios during maintenance and climbing operations.

[0046] For example, the battery module can be configured to be detachably connected, that is, during the climbing operation, the battery module can be replaced to increase the operating time of the entire machine.

[0047] Alternatively, the cable climbing robot 100 may be configured with a wired power supply structure, that is, during maintenance work, the cable climbing robot 100 may climb and move by dragging the power supply cable.

[0048] Thus, since the cable climbing robot 100 does not need to be equipped with a battery module to occupy additional weight during the climbing process, the entire machine has a higher load capacity. In addition, compared with wireless power supply, wired power supply has a nearly unlimited battery life and does not require frequent battery replacement.

[0049] For example, during outdoor operations, power can be supplied by configuring a generator or by using an external power light of a new energy vehicle, without limitation.

[0050] While climbing along the length of the cable, the cable climbing robot 100 can detect the cable in a variety of ways.

[0051] For example, Figure 1 As shown, the cable-climbing robot 100 further includes an image detection assembly 150, which includes a plurality of first brackets 151 and a plurality of image collectors 152. The first brackets 151 are connected to the frame 110 or the first connecting rod 120. An image collector 152 is provided corresponding to each first bracket 151 and is connected to the first bracket 151 to collect 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 provision of the first bracket 151, while the image collector 152 is fixedly connected, the shooting angle of the image collector 152 can also be adjusted by adjusting the first bracket 151.

[0053] Exemplarily, the image detection assembly 150 is connected to one of the racks 110 , taking the rack connected with multiple first brackets 151 as an example, which is located on the upper side along the Z direction. Multiple first brackets 151 are connected above the upper rack 110 and are spaced around the cable cavity 111 .

[0054] The first bracket 151 may be a bellows structure. Alternatively, the first bracket 151 may be a rod-like structure with multiple sections of rotatable connections. This allows for flexible adjustment of the capture angle of the image collector 152 by adjusting the first bracket 151, allowing multiple image collectors 152 to be spaced apart along the circumference of the cable, capturing image information from all angles.

[0055] Continue to refer to Figure 1 The image detection component 150 further includes a plurality of bracket seats 153 , one bracket seat 153 is correspondingly arranged to one first bracket 151 , and the first bracket 151 is connected to the frame 110 via the bracket seat 153 .

[0056] For example, a bracket seat 153 is connected to the upper side of the upper frame 110 along the Z direction, and multiple bracket seats 153 are spaced apart around the cable passage 111. The first bracket 151 is detachably connected to the bracket seat 153, and the bracket seat 153 has multiple different positions for connecting to the first bracket 151, facilitating flexible adjustment of the acquisition angle of the image collector 152.

[0057] Furthermore, in some embodiments, the preset device 140 further includes a flaw detector. Exemplarily, the flaw detector may be an ultrasonic flaw detector, an eddy current flaw detector, or a radiographic flaw detector. The flaw detector can be used to perform flaw detection on the interior of the cable, thereby obtaining accurate information about the internal condition of the cable.

[0058] It should be noted that due to the large size and weight of flaw detectors, conventional cable climbing robots lack the space and weight to carry them. Even if they could, the substantial weight added to the robot would require greater preload on the cable to generate sufficient friction for climbing, thus causing greater damage to the cable.

[0059] In the technical solution of the present application, multiple racks 110 are spaced apart along the Z direction, so that sufficient installation space can be created between two adjacent racks 110 by adjusting the length of the first connecting rod 120 to accommodate the installation of pre-set equipment 140 such as flaw detectors. Furthermore, the cable climbing robot 100 of the present application provides propulsion through the ducted propulsion assembly 130. Even if the carrying weight of the cable climbing robot 100 is significantly increased, the cable will not be subjected to greater pre-stress damage 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 flight time due to an increase in the carrying weight can be further avoided.

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

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

[0063] For example, while powering the aforementioned two components, the controller 161 can also store and analyze cable detection information collected by the flaw detector 142 and the image collector 152 through its internal storage module. Alternatively, the controller 161 can transmit the detection information to a ground terminal via wireless signals, thereby facilitating real-time analysis and acquisition of the cable's surface and internal detection status.

[0064] If the cable-climbing robot 100 is configured with a wired power supply structure, the power supply cable can be electrically connected to the controller 161 to supply power to the various electrical components via the power distribution module built into the controller 161. In this case, a communication cable can also be configured simultaneously with the power supply cable so that the controller 161 can quickly transmit detection information to the ground terminal via the communication cable.

[0065] For example, Figure 2As shown, there are two racks 110, spaced apart in the Z direction. The two racks 110 are supported and connected by a plurality of first connecting rods 120 to form a stable frame structure. This facilitates stable installation of the preset equipment 140 between the two racks 110 and helps reduce the structural weight of the frame body.

[0066] In some embodiments, as Figure 4 As shown, the frame 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 to or spaced apart in a plane perpendicular to the first direction to form a cable passage cavity 111, and the first half hoop 112 and the second half hoop 113 are detachably connected.

[0067] For example, the frame 110 is a centrosymmetrical structure, with its axis parallel to the Z direction. For example, the first half hoop 112 and the second half hoop 113 are both annular frame structures, and a cylindrical cable passage cavity 111 is formed between the first half hoop 112 and the second half hoop 113 .

[0068] Alternatively, the first half hoop member 112 and the second half hoop member 113 may be arranged as a U-shaped or C-shaped frame structure to enclose the cable passage cavity 111 that is open along the Z direction.

[0069] Because the first hoop half 112 and the second hoop half 113 are detachably connected, before climbing, the first hoop half 112 and the second hoop half 113 are disassembled to move the cable to be climbed between the disassembled first hoop half 112 and the second hoop half 113. The first hoop half 112 and the second hoop half 113 are then assembled to position the cable within the cable passage 111 between the multiple racks 110. At this point, the cable's length extends in a direction approximately corresponding to the Z direction. The controller 161 can control the ducted propulsion assembly 130 to rotate to provide propulsion in the Z direction, thereby driving the cable climbing robot 100 to rapidly move along the length of the cable.

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

[0071] Taking the case where there are two racks 110 as an example, in order to ensure 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 extension direction of the first half hoop members 112 to form a stable frame structure.

[0073] like Figure 5As shown, the two second half hoop members 113 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 extension direction of the second half hoop members 113 to form a stable frame structure.

[0074] Thus, during the process of disassembling and assembling the frame 110 to accommodate the cable, the cable climbing robot 100 is conveniently disassembled and assembled because its main structure consists of two detachably connected frames. Furthermore, the two frames reduce the weight of the cable climbing robot 100 while providing enough space within the frames to accommodate the installation of the pre-installed equipment 140. This not only meets the space requirements for accommodating the pre-installed equipment 140, but also increases the load capacity of the pre-installed equipment 140 by reducing the weight of the frames.

[0075] In some embodiments, as Figure 2 and Figure 4 As shown, the ducted propulsion assembly 130 includes a plurality of first ducted propellers 131, and a first ducted propeller 131 is provided on at least the outer side of the frame 110 away from the cable cavity 111. The plurality of first ducted propellers 131 are distributed at intervals around an axis parallel to the Z direction and connected to the frame 110 for providing propulsion along the first direction.

[0076] For example, two first ducted propellers 131 may be connected to the outside of the first half hoop 112 , and two first ducted propellers 131 may be connected to the outside of the second half hoop 113 .

[0077] For example, if there are two racks 110, four first ducted propellers 131 may be connected to the outside of each rack 110 at intervals. If there are three or more racks 110, four first ducted propellers 131 may be connected to the outside of at least two racks 110 at the upper and lower ends, respectively.

[0078] Thus, by arranging the axes of the first ducted propellers 131 parallel to the Z direction, at least eight first ducted propellers 131 can provide sufficient propulsion force for the cable climbing robot 100. This facilitates rapid climbing and maintenance of the cable climbing robot 100 and provides sufficient redundancy.

[0079] Continue to refer to Figure 2 and Figure 4 The ducted propulsion assembly 130 also includes multiple second ducted propellers 132 and multiple steering members 133. Second ducted propellers 132 are provided on at least the outer side of the frame 110, away from the cable passage 111. These second ducted propellers 132 are spaced apart around an axis parallel to the Z direction. Each second ducted propeller 132 is connected to the frame 110 via a steering member 133, which is used to adjust the propulsion direction of the second ducted propeller 132.

[0080] For example, each rack 110 is configured with two second ducted propellers 132. The two second ducted propellers 132 can be connected to both ends of the first half hoop 112 or the second half hoop 113. Alternatively, two second ducted propellers 132 can be provided, connected one-to-one with the first half hoop 112 and the second half hoop 113, and the rack 110 equipped with the two second ducted propellers 132 is centrally symmetrical about an axis parallel to the Z direction.

[0081] Thus, since the second ducted propeller 132 can adjust the propulsion direction through the steering member 133, the second ducted propeller 132 can provide propulsion in the Z direction. Alternatively, the second ducted propeller 132 can also provide propulsion in the vertical direction to balance part or all of the gravity of the entire machine.

[0082] For example, Figure 3 As shown, the controller 161 is electrically connected to the first ducted propeller 131 , the second ducted propeller 132 and the steering member 133 , and is used to control the rotation speed of the first ducted propeller 131 and the second ducted propeller 132 , and control the rotation direction and rotation angle of the steering member 133 .

[0083] The controller 161 is provided with an independent control channel corresponding to each first ducted propeller 131 , each second ducted propeller 132 and each steering member 133 , so as to adjust the operating posture of the cable climbing robot 100 through precise control.

[0084] It should be noted that each first ducted propeller 131, each second ducted propeller 132 and each steering member 133 is provided with a corresponding electric adjustment module, which can be regarded as a part of the controller 161 or as a part of the ducted propulsion assembly 130. The electric adjustment module is used to adjust and control the drive motor of the above-mentioned rotating parts, and there is no limitation on this.

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

[0086] For the second ducted propeller 132 , the controller 161 needs to adjust the rotation speed of the second ducted propeller 132 to control the magnitude of the propulsion force, and the controller 161 also needs to adjust the direction of the second ducted propeller 132 through the steering member 133 to change the propulsion direction of the propulsion force.

[0087] Illustratively, the second ducted propeller 132 includes at least a first propulsion state and a second propulsion state. When the second ducted propeller 132 is in the first propulsion state, the axial direction of the second ducted propeller 132 is parallel to the Z direction, so that the second ducted propeller 132 provides acceleration propulsion along the Z direction. When the second ducted propeller 132 is in the second propulsion state, the axial direction of the second ducted propeller 132 is arranged parallel to the vertical direction, which is used to balance part or all of the gravity of the entire machine.

[0088] Specifically, such as Figure 5 and Figure 6 As shown, Figure 6 for Figure 5 A partial enlarged view of the middle A. The steering member 133 includes a steering base 1331 and a steering motor 1332. Figure 4 The steering assembly also includes a direction sensor 1333. The steering base 1331 is connected to the second hoop half 113 or the frame. The direction sensor 1333 is mounted on the second ducted propeller 132 and is used to detect the propulsion direction of the second ducted propeller 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 propeller 132 to adjust the rotation angle of the second ducted propeller 132 around the output shaft.

[0089] The controller 161 is electrically connected to the direction sensor 1333, the steering motor 1332, and the second ducted propeller 132. The controller 161 can obtain attitude parameters such as the tilt angle and direction of the entire machine through the built-in gyroscope or direction sensor, and the controller 161 can obtain the attitude parameters or propulsion direction parameters corresponding to the second ducted propeller 132 through the direction sensor 1333. Subsequently, the controller 161 controls the steering motor 1332 to adjust the propulsion direction of the second ducted propeller 132 based on the above parameters, so that the second ducted propeller 132 is in the first propulsion state or the second propulsion state, etc.

[0090] In the process of the cable climbing robot 100 climbing along the Z direction, the cable in the cable cavity 111 is in frictional contact with the inner wall of the frame 110 or maintains a gap.

[0091] For example, the propulsion directions and propellers of the plurality of second ducted propellers 132 may be flexibly controlled to prevent the cables from contacting and rubbing against the inner wall of the frame 110 .

[0092] Or, as Figure 4 and Figure 5 As shown, the cable climbing robot 100 includes a plurality of guide wheel assemblies 170, which are connected to the inner side of the frame 110 near the cable cavity 111, and the plurality of guide wheel assemblies 170 are spaced apart around an axis parallel to the Z direction (or the cable cavity 111).

[0093] Combine 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, with one end of the guide wheel support arm 171 being rotatably connected to the frame 110 and the other end of the guide wheel support arm 171 being connected to the guide wheel member 172. The guide wheel member 172 is configured to roll in contact with the cable. The buffer member 173 is connected at one end to the end of the guide wheel support arm 171 closest to the guide wheel member 172 and at the other end to the frame 110, for buffering and adjusting the extension angle of the guide wheel support arm 171.

[0094] The angle between the length direction of the guide wheel support arm 171 and the Z direction is the extension angle. By setting 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] Thus, when the cable is located in the cable cavity 111, the cable is supported and positioned in the central area of ​​the cable cavity 111 by the multiple guide wheel assemblies 170 arranged along the circumference. When the cable climbing robot 100 climbs in the Z direction, the guide wheel assemblies 172 and the cable are in rolling contact with each other, which has a small contact resistance, thereby avoiding friction between the cable and components such as the frame 110.

[0096] That is, although the multiple guide wheel assemblies 170 provided in the embodiment of the present application will apply a preload to the cable in the cable cavity 111, this preload is not used to provide friction for the cable climbing robot 100. In other words, the multiple guide wheel assemblies 170 in the embodiment of the present application are only used to adjust the relative avoidance of the cable in the cable cavity 111 to avoid contact friction during the relative movement between the cable and the frame 110.

[0097] Therefore, the preload applied by the guide wheel assembly 170 to the cable is relatively small, and will not cause further damage to the cable. Furthermore, the provision of multiple guide wheel assemblies 170 can also prevent contact friction between the frame 110 and the cable during the climbing process of the cable-climbing robot 100, further reducing the adverse effects on the cable during the climbing and maintenance process.

[0098] The buffer 173 may be a spring telescopic rod structure, or a spring telescopic rod structure with a damping function, so that the cable cavity 111 can support cables of various diameters.

[0099] In some embodiments, the cable-climbing robot further includes a distance sensor disposed on the inner side of the frame 110 near the cable passage cavity 111. The distance sensor is configured to detect the distance between the cable in the cable passage cavity 111 and the frame 110. The position and posture of the cable-climbing robot 100 are adjusted based on the detected distance information to keep the cable in the middle of the cable passage cavity 111, thereby reducing friction between the frame 110 and the cable.

[0100] For example, the distance measuring sensor may be a laser distance measuring sensor, a pressure sensor, an optical flow sensor, or the like.

[0101] Optionally, a distance sensor is provided on the side of the guide wheel support arm 171 or the guide wheel member 172 facing the center of the cable passage cavity 111. The distance sensor measures the distance between the cable and the guide wheel member 172, so that the cable and each guide wheel member 172 maintain a small distance, so that the cable climbing robot can fly in the air relative to the cable, thereby not causing friction on the cable, thereby minimizing the adverse effects on the cable. Alternatively, when the size of the space 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, the posture of the cable climbing robot 100 is adjusted according to the measurement data of each distance sensor, so that each guide wheel member 172 applies approximately the same pressure to the cable, so as to avoid eccentric wear and reduce damage to the cable.

[0102] Specifically, the above-mentioned distance measuring sensor can be set on each guide wheel assembly 170, and the distance measuring sensor can also be set on some of the guide wheel assemblies 170, so as to determine the relative position between the cable and the guide wheel component 172. There is no restriction on the specific setting position and number of the distance measuring sensor.

[0103] In some embodiments, as Figure 4 As 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 via the second connecting member 115. The length of at least the first connecting member 114 between the first half hoop member 112 and the second half hoop member 113 is adjustable.

[0104] Thus, by disposing a first connecting member 114 and a second connecting member 115 between two or more frames 110, in preparation for maintenance work, the second connecting member 115 can be disassembled to rotate the first hoop half 112 or the second hoop half 113, thereby radially opening the cable passage 111 and facilitating placement of a cable in the cable passage 111. The length of the first connecting member 114 is adjusted to an appropriate state, and then the second ends of the first hoop half 112 and the second hoop half 113 are assembled and connected by the second connecting member 115 to close the radial opening of the cable passage 111.

[0105] At this time, the buffer members 173 of the multiple guide wheel assemblies 170 in the cable passage cavity 111 are in a compressed state, and the guide wheel members 172 are all in pressurized contact with the cables, so that a sufficient gap is maintained between the cables and the frame 110, thereby reducing or preventing contact wear between the frame 110 and other components and the cables during the climbing process of the cable-climbing robot 100.

[0106] By adjusting the length of the first connecting member 114 and cooperating with the guide wheel assembly 170 that can adjust the extension angle, the cable cavity 111 can accommodate cables of various specifications and sizes (ie, diameters).

[0107] In some embodiments, as Figure 8 and Figure 9 As 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 hoop member 112 and the second hoop member 113, and one end of the second adjusting member 1142 is connected to the first end of the other of the first hoop member 112 and the second hoop member 113. The second adjusting member 1142 is rotatably connected to at least one of the second hoop member 113 and the first adjusting member 1141 and the first hoop member 112. 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.

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

[0109] Will Figure 9The handle portion of the locking member 1143 is rotated upward to put the locking member 1143 in a locked state. The locked state is used to prevent the relative movement between the first adjusting member 1141 and the second adjusting member 1142.

[0110] For example, the second adjusting member 1142 and the second half hoop member 113 may be rotatably connected, and the first adjusting member 1141 and the first half hoop member 112 may be rotatably connected, so as to facilitate rotational opening or closing of the cable passage cavity 111.

[0111] In this way, by configuring the first adjusting member 1141, the second adjusting member 1142, and the locking member 1143, the extended lengths of the first adjusting member 1141 and the second adjusting member 1142 can be flexibly adjusted by switching the locking state and the adjustment state of the locking member 1143, thereby adjusting the spacing between the first hoop half 112 and the second hoop half 113 at the first end, thereby improving the adaptability to cables of different radial sizes.

[0112] Specifically, such as Figure 9 and Figure 10 As shown, the first adjusting member 1141 is provided with an insertion slot 1144 along its length, and the second adjusting member 1142 is inserted into the insertion slot 1144 along its length. The locking member 1143 is sleeved on the outside of 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 pressed into contact with each other, thereby preventing the second adjusting member 1142 from sliding along the length direction in the insertion groove 1144 and maintaining 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 adjustment state, the first adjustment member 1141 and the second adjustment member 1142 are no longer in the squeeze contact state. That is, the second adjustment member 1142 can slide in the insertion groove 1144 along the length direction to adjust the distance between the first half hoop member 112 and the second half hoop member 113 at the first end.

[0115] For example, Figure 9 and Figure 10 As shown, the locking member 1143 includes a locking body 11431 and a handle portion 11432. The locking body 11431 and the handle portion 11432 are rotatably connected, and an extrusion groove is provided between the two, and the first adjustment member 1141 and the second adjustment member 1142 inserted and installed along the length direction are located in the extrusion groove.

[0116] like 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 squeezed by the handle portion 11432. When the handle portion 11432 is rotated clockwise to switch to the locked state, the first adjustment member 1141 and the second adjustment member 1142 in the extrusion groove are squeezed by the handle portion 11432 to prevent them 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 pad 11434 is located between the handle portion 11432 and the first adjusting member 1141, and a groove is provided in the second pad 11434 corresponding to the rotating shaft of the handle portion 11432, so that the gap between the handle portion 11432 and the first adjusting member 1141 can be filled by the second pad 11434, and the handle portion 11432 in the locked state can be squeezed by the second pad 11434 to squeeze the first adjusting member 1141.

[0119] The first pad 11433 and the handle 11432 are located on opposite sides of the first adjusting member 1141 , and the first pad 11433 is located at the opening of the insertion slot 1144 , so that the handle 11432 in the locked state can press the second adjusting member 1142 through the first pad 11433 .

[0120] During the installation of the first connecting member 114 , the first adjusting member 1141 and the second adjusting 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 As shown, the first connecting member 114 further includes a positioning member 1145. Figure 8 The first adjusting member 1141 is rotatably connected to the first half hoop member 112 via a positioning member 1145, and the second adjusting member 1142 is rotatably connected to the second half hoop member 113 via a positioning member 1145. This allows the first half hoop member 112 and the second half hoop member 113 to be rotatably arranged around an axis parallel to the Z direction.

[0122] In some embodiments, 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 hoop half 112 and the second hoop half 113 is connected to the first hook 1151 at a second end. The other of the first hoop half 112 and the second hoop half 113 is connected to the locking member 1152 at a 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 unlocked state, which is used to switch the other end of the hook connecting member 1153 and the first hook 1151 between a hooked state and a loose state.

[0123] Exemplarily, the first hook 1151 is connected to the second half hoop 113 , and the locking member 1152 is connected to the first half hoop 112 , thereby achieving a detachable connection between the first half hoop 112 and the second half hoop 113 , so as to facilitate placing the cable in the cable cavity 111 .

[0124] Reference Figure 11 、 Figure 12 and Figure 13 The locking member 1152 includes a fixing portion 11521, a positioning portion 11522, an adjusting portion 11523 and an adapting 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 locking state and the unlocking state. The adapting portion 11524 is rotatably connected to the adjusting portion 11523, and the end of the hook connector 1153 in the hanging state away from the first hook 1151 is connected to the adapting portion 11524, so that the hook connector 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 connector 1153 is loosened from the first hook 1151 , and the other end of the hook connector 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 connector 1153 is hooked with the first hook 1151, and the other end of the hook connector 1153 is positioned close to the positioning portion 11522. At this time, the adjusting portion 11523 rotates to align with the positioning portion 11522, so that the positioning portion 11522 restricts the adjusting portion 11523 from being out of the locked state.

[0127] In this way, by rotating and adjusting, the locking state and the opening state of the adjusting portion 11523 are switched, thereby adjusting the hook state and the loose state of the rotating hook connector 1153, so that the user can set the cable in the cable cavity 111.

[0128] The positioning portion 11522 can be engaged with the adjusting portion 11523 to disengage the resistance adjusting portion 11523 from the locked state. Alternatively, a latch or lock can be provided at the positioning portion 11522 to prevent the adjusting portion 11523 from disengaging the locked state.

[0129] For example, Figure 13 As shown, the adapter part 11524 is provided with a threaded hole 11525, and the hook connector 1153 used to connect to the adapter part 11524 has an external thread adapted to the threaded hole 11525 at one end, which is used to adjust the insertion depth of the hook connector 1153 and the threaded hole 11525.

[0130] In this way, by adapting the hook connector 1153 to the threaded hole 11525 of the adapting portion 11524, the hook connector 1153 can be rotated to adjust its telescopic length, thereby adjusting the distance between the first hook 1151 and the locking member 1152 in the locked state.

[0131] Illustratively, the rotation axis of the adapting portion 11524 relative to the adjusting portion 11523 is approximately parallel to the rotation axis of the adjusting portion 11523 relative to the fixing portion 11521. The axial direction of the threaded hole 11525 is perpendicular to the rotation axis of the adapting portion 11524 relative to the adjusting portion 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, the spacing between the first half hoop 112 and the second half hoop 113 can be adjusted through the first connecting member 114 and the second connecting member 115, so as to be adaptable to cables of various diameters.

[0133] In the above embodiment, the hook connector 1153 may be a rod-shaped structure with a hook or a ring, or a strip-shaped structure or a sheet-shaped structure with a hook or a hole.

[0134] In some other embodiments, the hook connector 1153 may be partially or entirely configured 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 larger groove depth so that the hook connector 1153 has a larger moving stroke between the hooking state and the loosening state, thereby improving the stability of the second connector 115 in the locked state.

[0136] It should be noted that within the cable cavity 111, the guide wheel assembly 170, under the action of the buffer 173, can elastically rotate to adapt to cables of different diameters, thereby ensuring that the cable is stably positioned in the central area of ​​the cable cavity 111. Furthermore, by providing telescopic adjustment at the first and second connectors 114 and 115, the adaptability range for cables with larger radial dimensions is further increased. For example, the cable climbing robot 100 of the present embodiment can adapt to cables with diameters between 80 mm and 200 mm.

[0137] Furthermore, because the guide wheel assembly 170 in the cable passage cavity 111 has a buffering function and a large gap is maintained 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 protrusions within 20 mm along the radial direction of the cable.

[0138] In some embodiments, as Figure 2 and Figure 4 As shown, the cable climbing robot 100 further includes an anti-falling assembly 180, which is disposed toward the cable passage cavity 111. 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 press the contact cable to prevent the cable climbing robot 100 from falling.

[0139] The controller 161 is electrically connected to the anti-falling component 180 and is used to supply power to the anti-falling component 180. The controller 161 is also used to switch and adjust the initial state and the anti-falling state of the anti-falling component 180.

[0140] For example, when a part of the cable climbing robot 100 structure fails or the power is unexpectedly cut off, the anti-falling assembly 180 switches to the anti-falling state to squeeze the base cable, thereby preventing the cable climbing robot 100 from falling. In this way, by setting the anti-falling assembly 180, the cable climbing robot 100 can be prevented from crashing in unexpected situations.

[0141] Specifically, such as Figure 14 and Figure 15 As shown, the anti-falling assembly 180 includes an anti-falling bracket 181, an anti-falling claw 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 (as shown in FIG. Figure 2181 ). The anti-fall motor 184 is located on opposite sides of the anti-fall bracket 181 from the anti-fall claw 182. The anti-fall motor 184 is connected to the support rod 183. The anti-fall motor 184 adjusts the distance between the anti-fall claw 182 and the anti-fall bracket 181 along the length of the support rod 183. A spring 185 is sleeved on the support rod 183 and compressed between the anti-fall claw 182 and the anti-fall bracket 181.

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

[0143] For example, Figure 3 As shown, the anti-fall motor 184 is electrically connected to the controller 161 so that the controller 161 can control the anti-fall component to switch between the initial state and the anti-fall state through the anti-fall motor 184.

[0144] Both ends of the anti-fall bracket 181 may be connected between two adjacent first connecting rods 120 along the circumferential direction.

[0145] For example, the controller 161 controls the anti-fall motor 184 to be powered on, so that the anti-fall motor 184 rotates and compresses the spring member 185 via the support rod 183. The rotating anti-fall motor 184 can also drive the anti-fall claw 182 to move toward the anti-fall bracket 181 via the support rod 183 until it moves to the initial state. In the initial state, the anti-fall motor 184 can be continuously powered to maintain the initial state, or other electronically controlled limit structures can be used to keep the anti-fall assembly 180 in the initial state.

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

[0147] The number of anti-falling components 180 can be set to two, one of which is connected to one side of the first hoop half 112, and the other is connected to one side of the second hoop half 113. In this way, the two anti-falling components 180 in the anti-falling state are squeezed and clamped on 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 embodiment of the present application, since the propulsion direction of the second ducted propeller 132 is adjustable, the second ducted propeller 132 can also be used to balance the gravity of the cable-climbing robot 100 when it is hovering. In other words, the anti-fall assembly 180 can be regarded as a multi-layered protection structure, which improves the protection and response measures of the cable-climbing robot 100 in unexpected situations.

[0149] In some embodiments, as Figure 6 As shown, the second hoop half 113 includes a second upper frame plate 1131, a second lower frame plate 1132, and a second fixing seat 1133. The second fixing seats 1133 are supported along the Z direction between the second upper frame plate 1131 and the second lower frame plate 1132. There are at least two second fixing seats 1133. This forms the second hoop half 113 of the frame structure, which is lightweight and has high structural strength.

[0150] Correspondingly, the first hoop half 112 includes a first upper frame plate, a first lower frame plate, and a first fixing seat. The first fixing seat is supported along the Z direction between the first upper and first lower frame plates. There are at least two first fixing seats. This forms the first hoop half 112, a frame structure that is lightweight and has high structural strength.

[0151] For example, 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 made of 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 lightweight and have high structural strength.

[0152] Based on this, between the two first hoop halves 112 spaced apart along the Z direction, at least two first connecting rods 120 are plugged and installed with the first fixing seat along the Z direction, achieving a high contact area and connection strength. Correspondingly, between the two second hoop halves 113 spaced apart along the Z direction, at least two first connecting rods 120 are plugged and installed with the second fixing seat 1133 along the Z direction, achieving a high contact area and connection strength.

[0153] Thus, when connecting the main components of the cable climbing robot 100 at the frame 110, a connecting seat or connecting body can be provided between the corresponding upper frame plate and lower frame plate, or connected to the corresponding first fixing seat or second fixing seat 1133 to improve the connection strength.

[0154] During use, the second connectors 115 at the upper and lower ends of the frames 110 are adjusted to the open position. The first half hoop 112 or the second half hoop 113 is rotated to open the cable passage 111. The cable-climbing robot 100 is then moved to position the cable within the passage 111. During this process, the telescopic lengths of the first connector 114 and the second connector 115 are adjusted to the appropriate position. Subsequently, the first half hoop 112 or the second half hoop 113 is rotated in the opposite direction, and the second connector 115 is adjusted to the locked position to close the passage 111.

[0155] At this time, within cable passageway 111, the four upper guide wheel assemblies 170 are spaced 90° apart around the cable. Specifically, two guide wheel assemblies 170 are connected to the inner side of first hoop half 112, and two guide wheel assemblies 170 are connected to the inner side of second hoop half 113. Inside lower frame 110, the four lower guide wheel assemblies 170 are similarly spaced 90° apart around the cable. Specifically, two guide wheel assemblies 170 are connected to the inner side of first hoop half 112, and two guide wheel assemblies 170 are connected to the inner side of second hoop half 113. Multiple buffer members 173 are provided to ensure that the guide wheel members 172 of the eight guide wheel assemblies 170 are in pressurized contact with the cable, thereby positioning the cable in the central region of cable passageway 111 and separating the cable from other structures on the inner wall of frame 110.

[0156] There are eight first ducted propellers 131, four of which are connected to the outer sides of the upper and lower frames 110. Activating the first ducted propellers 131 provides propulsion in the Z direction, enabling the cable-climbing robot 100 to climb along the cable. Within the cable cavity 111, multiple guide pulleys 172 roll in contact with the cable, minimizing travel resistance and preventing damage to the cable from contact with other structures on the inner wall of the frame 110.

[0157] As the cable-climbing robot 100 climbs, the four image collectors 152 located on its upper side can capture and analyze images of the cable's exterior. Furthermore, the pre-installed device 140 can be equipped with a flaw detector 142 to detect flaws within the cable, achieving enhanced inspection results. Furthermore, with the relatively large flaw detector 142, the eight first ducted thrusters 131 can provide significant propulsion, while maintaining extended endurance through wired power supply.

[0158] If the cable-climbing robot 100 needs to hover, the four second ducted thrusters 132 can be used to adjust the direction of the propulsion force to provide a lifting force to balance the gravity of the entire machine.

[0159] It should be noted that the anti-fall assembly 180 can also enable the cable-climbing robot 100 to hover. For example, the anti-fall assembly 180 can squeeze and clamp the cable, thereby preventing the cable-climbing robot 100 from falling or sliding. However, the anti-fall assembly 180 is primarily used for emergency activation in the event of a power outage or a faulty light.

[0160] For example, a buffer 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 to reduce the squeezing damage to the cable by the anti-falling claw 182 in the anti-falling state, and the buffer layer can also provide greater static friction to improve the anti-falling effect.

[0161] In the description of this specification, reference to the terms "embodiment," "example," "some embodiments," "example," "exemplary," "for example," etc., means that the specific features, structures, shapes, positions, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples.

[0162] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and purpose of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cable climbing robot, characterized in that: include: A plurality of racks (110), the plurality of racks (110) being spaced apart and distributed along a first direction, the racks (110) being provided with cable passage cavities (111) along the first direction; a first connecting rod (120), the first connecting rod (120) fixedly connecting the plurality of racks (110) along the first direction, and the plurality of racks (110) are used to install preset equipment (140); and a ducted propulsion assembly (130) connected to at least one of the frame (110) and the first connecting rod (120), the ducted propulsion assembly (130) being used to provide at least a propulsion force along the first direction; Wherein, the frame (110) comprises: a first hoop half (112); and a second half hoop member (113), wherein the first half hoop member (112) and the second half hoop member (113) are adjacent to or spaced apart in a plane perpendicular to the first direction, and the first half hoop member (112) and the second half hoop member (113) are detachably connected to form the cable passage cavity (111); a first connecting member (114), one end of the first connecting member (114) being connected to the first end of the first half hoop member (112), the other end of the first connecting member (114) being connected to the first end of the second half hoop member (113), and at least one of the first half hoop member (112) and the second half hoop member (113) being rotatably connected to the first connecting member (114); The first connecting member (114) comprises: a first adjusting member (1141), one end of the first adjusting member (1141) being connected to a first end of one of the first half hoop member (112) and the second half hoop member (113); a second adjusting member (1142), one end of the second adjusting member (1142) being connected to the first end of the other of the first half hoop member (112) and the second half hoop member (113), and 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) being rotatably connected; and a locking member (1143), the locking member (1143) being connected to the first adjusting member (1141) and the second adjusting member (1142) so as to enable the first adjusting member (1141) and the second adjusting member (1142) to switch between a locking state and an adjusting state; The adjusting state is used to adjust the relative position of the first adjusting member (1141) and the second adjusting member (1142) so as to adjust the spacing between the first half hoop member (112) and the second half hoop member (113) at the first end; and the locking state is used to prevent relative movement between the first adjusting member (1141) and the second adjusting member (1142).

2. The cable climbing robot according to claim 1, characterized in that: The frame (110) further includes: a second connecting piece (115), wherein the second end of the first half hoop piece (112) is detachably connected to the second end of the second half hoop piece (113) via the second connecting piece (115); Wherein, 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.

3. The cable climbing robot according to claim 2, characterized in that: The first adjusting member (1141) is provided with an inserting slot (1144) along the length direction, and the second adjusting member (1142) is inserted into the inserting slot (1144) along the length direction of the first adjusting member (1141); The locking member (1143) is sleeved on the outside of 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 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 press contact; When the locking member (1143) is in the adjustment state, the first adjustment member (1141) and the second adjustment member (1142) are out of the squeeze contact state.

4. The cable climbing robot according to claim 2 or 3, characterized in that: The second connecting member (115) comprises: a first hook (1151), wherein one of the first half hoop member (112) and the second half hoop member (113) is connected to the first hook (1151) at a second end; a locking member (1152), the other of the first hoop half (112) and the second hoop half (113) being connected to the locking member (1152) at a second end; and A hook connector (1153), one end of which is connected to the locking member (1152); 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 connector (1153) and the first hook (1151) between a hooked state and a loosened state.

5. The cable climbing robot according to claim 4, characterized in that: The locking member (1152) includes: A fixing portion (11521), wherein a corresponding one of the first half hoop member (112) and the second half hoop member (113) is connected to the fixing portion (11521) at a second end; a positioning portion (11522), the positioning portion (11522) being connected to the fixing portion (11521); an adjusting portion (11523), the adjusting portion (11523) being rotatably connected to the fixing portion (11521) to rotatably switch between the locked state and the unlocked state; and An adapting portion (11524), the adapting portion (11524) is rotatably connected to the adjusting portion (11523), and one end of the hook connecting member (1153) away from the first hook (1151) is connected to the adapting portion (11524); When the adjusting portion (11523) is in the open state, one end of the hook connecting member (1153) is loosened from the first hook (1151), and the other end of the hook connecting member (1153) is disposed away from the positioning portion (11522); When the adjusting portion (11523) is in the locking state, one end of the hook connector (1153) is hooked with the first hook (1151), and the other end of the hook connector (1153) is arranged close to the positioning portion (11522).

6. The cable climbing robot according to claim 5, characterized in that: The adapter part (11524) is provided with a threaded hole (11525), and one end of the hook connector (1153) used for connecting to the adapter part (11524) is provided with an external thread adapted to the threaded hole (11525) for adjusting the insertion depth between the hook connector (1153) and the threaded hole (11525).

7. The cable climbing robot according to any one of claims 1 to 3, characterized in that: The cable climbing robot also includes: A distance measuring sensor is provided on the inner side of the frame (110) close to the cable cavity (111), and the distance measuring sensor is used to detect distance information between the cable in the cable cavity (111) and the frame (110).

8. The cable climbing robot according to any one of claims 1 to 3, characterized in that: The cable climbing robot comprises a plurality of guide wheel assemblies (170), wherein the guide wheel assemblies (170) are connected to the inner side of the frame (110) close to the cable passage 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) being located inside the frame (110), and one end of the guide wheel support arm (171) being 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), and 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 an 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), and is used for buffering and adjusting the extension angle of the guide wheel support arm (171).

9. The cable climbing robot according to any one of claims 1 to 3, characterized in that: The ducted propulsion assembly (130) includes: A plurality of first ducted propellers (131), wherein at least the first ducted propeller (131) is provided on the outer side of the frame (110) away from the cable cavity (111), and the plurality of first ducted propellers (131) are spaced apart around an axis parallel to the first direction and connected to the frame (110) for providing propulsion along the first direction.

10. The cable climbing robot according to any one of claims 1 to 3, characterized in that: The ducted propulsion assembly (130) includes: a plurality of second ducted propellers (132), wherein at least the second ducted propeller (132) is provided on the outer side of the frame (110) away from the cable passage cavity (111), and the plurality of second ducted propellers (132) are spaced apart and distributed around an axis parallel to the first direction; and A plurality of steering members (133), one of the second ducted propellers (132) is connected to the frame (110) via one of the steering members (133), and the steering member (133) is used to adjust the propulsion direction of the second ducted propeller (132).

11. The cable climbing robot according to claim 10, characterized in that: The steering member (133) comprises: A steering base (1331), the steering base (1331) being connected to the frame (110); a direction sensor (1333), provided on the second ducted propeller (132), for detecting the propulsion direction of the second ducted propeller (132), and A steering motor (1332), wherein the steering motor (1332) is connected to the steering base (1331), and an output shaft of the steering motor (1332) is connected to the second ducted propeller (132) for adjusting a rotation angle of the second ducted propeller (132) around the output shaft.

12. The cable climbing robot according to any one of claims 1 to 3, characterized in that: The cable climbing robot also includes: an anti-falling component (180) disposed toward the cable passage cavity (111), the anti-falling component (180) having an initial state and an anti-falling state; when the anti-falling component (180) is in the anti-falling state, the anti-falling component (180) is used to squeeze the contact cable to prevent the cable climbing robot from falling; and A controller (161) is electrically connected to the anti-fall component (180), the preset device (140) and the ducted propulsion component (130), and the controller (161) is used to control the anti-fall component (180) to switch between the initial state and the anti-fall state.

13. The cable climbing robot according to claim 12, characterized in that: The anti-fall component (180) comprises: an anti-fall bracket (181), the anti-fall bracket (181) being connected to the frame (110) or the first connecting rod (120); Anti-fall 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) is penetrated by the anti-falling bracket (181); an anti-fall motor (184), the anti-fall motor (184) and the anti-fall claw (182) being located on opposite sides of the anti-fall bracket (181), the anti-fall motor (184) being connected to the support rod (183); along the length direction of the support rod (183), the anti-fall motor (184) is used to adjust the distance between the anti-fall claw (182) and the anti-fall bracket (181); and a spring member, the spring member being sleeved on the support rod (183) and compressed between the anti-falling claw (182) and the anti-falling bracket (181); When the anti-fall assembly (180) is in the anti-fall state, the spring member is in a compressed state, and the anti-fall claw (182) is used to press the contact cable; when the anti-fall assembly (180) is in the initial state, the anti-fall claw (182) is arranged close to the anti-fall bracket (181) along the length direction of the support rod (183).

14. The cable climbing robot according to claim 12, 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-fall assembly (180) through the controller (161).

15. The cable climbing robot according to any one of claims 1 to 3, characterized in that: The preset device (140) includes: The flaw detector (142) is used to perform flaw detection on the inside of the cable.

16. The cable climbing robot according to any one of claims 1 to 3, characterized in that: The cable climbing robot further comprises an image detection component (150), wherein the image detection component (150) comprises: a plurality of first brackets (151), wherein the first brackets (151) are connected to the frame (110) or the first connecting rod (120); and A plurality of image collectors (152), one of the image collectors (152) is provided corresponding to one of the first brackets (151), and the image collector (152) is connected to the first bracket (151) for collecting image information of the cable.

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