Multi-mode driving coupling type inspection manipulator

Abstract

The invention discloses a multi-mode driving coupling type inspection manipulator. The multi-mode driving coupling type inspection manipulator comprises walking parts, wherein the walking parts are arranged side by side front and back, can be opened and closed to clamp a cable and can cross obstacles and move on the cable under the action of the manipulator; the clamping part is used for controlling the walking part to be opened or closed and is fixedly connected with the outer side of the walking part; the second joint is used for controlling the clamping part to horizontally rotate left and right and is connected with the bottom of the clamping part; the first joint is used for controlling the manipulator to rotate up and down; the power part drives the walking part to clamp the cable and move through the pneumatic power unit. Left-right horizontal rotation and up-down rotation of the mechanical arm are achieved through output of the power part for posture adjustment, the walking part is driven by the pneumatic power unit to clamp the cable and move, and therefore the cable crosses obstacles and moves.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and in particular to a manipulator applied to cables, cylindrical railings, high-voltage cables, and the like. Background Art

[0002] In the field of modern engineering and construction, the use of cables is very common and is used in many occasions such as supporting buildings and lifting heavy objects. However, during the use of cables, they need to be regularly inspected and maintained to ensure their safety and reliability. Traditional cable maintenance, inspection and testing mostly rely on manual operation or fixed manipulators, which are inefficient, low in precision and inconvenient to operate. These problems are in urgent need of solution. Existing inspection equipment also has obvious defects in power drive and control: the driving mode is single and the driving force cannot be flexibly adjusted according to different working scenarios and needs. As a result, when the equipment faces cylindrical objects to be inspected of different materials and thicknesses, the driving force may be insufficient or excessive, affecting the stability and service life of the equipment. On the other hand, the joint control of the equipment is not flexible and accurate enough, making it difficult to achieve complex posture adjustment. When the equipment is operating on cylindrical objects to be inspected of some special shapes or positions, it is impossible to accurately reach the designated position for inspection or inspection, which reduces work efficiency and quality. Therefore, the present invention provides a manipulator to solve the problems existing in traditional cable detection and improve detection efficiency. Summary of the Invention

[0003] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a multi-modal drive coupling type inspection robot.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a multi-modal drive coupling inspection manipulator, including a walking part that is arranged side by side in front and back and can open and close to clamp a cylindrical object to be inspected and can overcome obstacles and move on the cylindrical object to be inspected under the action of the manipulator; a clamping part, used to control the opening or closing of the walking part, and is fixedly connected to the outside of the walking part; a second joint, used to control the left and right horizontal rotation of the clamping part, is connected to the bottom of the clamping part; a first joint, used to control the up and down rotation of the manipulator, is fixedly connected to the lower end of the second joint and is rotatably connected to the power unit box; the power unit box is used to install the power unit, and the power unit drives the first joint to rotate up and down at both ends of the power unit box through a driving rope; the power unit drives the clamping part to rotate left and right at the upper end of the second joint through the driving rope; the power unit drives the clamping part through the driving rope to control the opening or closing of the walking part, and the power unit drives the walking part to clamp the cylindrical object to be inspected and move through the pneumatic power unit.

[0005] Preferably, the power unit includes a rope driving force unit, a forward and reverse synchronous power unit and a pneumatic power unit; the forward and reverse synchronous power unit is connected to the rope driving force unit via a rotating shaft, and the rope driving wheels symmetrically distributed on both sides of the rope driving force unit rotate synchronously forward and reverse; the forward and reverse synchronous power unit is connected to the pneumatic power unit via a rotating shaft. The design of the rope driving force unit can be Preferably, the first joint and both ends of the power unit housing are connected via a first rotating assembly, and the first rotating assembly is connected to the power unit via a driving rope. The first joint is rotated up and down on the rotating shaft by driving the first rotating assembly to rotate.

[0006] Preferably, the top of the second joint is connected to the clamping part through a second rotating component, and the second rotating component is connected to the power part through a driving rope; the second joint is rotated left and right on the rotating shaft by driving the second rotating component to rotate.

[0007] Preferably, the clamping part is connected through a third rotating assembly, a C guide wheel, a driving rope and a power part, and the third rotating assembly is fixedly mounted on the output gear arm shaft of the clamping mechanism; the clamping mechanism includes a pair of mutually engaged gear arms, and a connecting rod clamping mechanism connected to the gear arms.

[0008] Preferably, the walking portion includes two semi-cylindrical brackets, the bottoms of the two semi-cylindrical brackets are hinged by a rotating shaft, and the tops of the semi-cylindrical brackets are closed by a locking mechanism; and no less than three walking units are distributed circumferentially inside the semi-cylindrical brackets.

[0009] Preferably, the rope drive force unit includes a first gear, a second gear, a first planetary gear, a second star gear, and a rope drive wheel; the first planetary gear is distributed equiangularly on the side of the first gear, and the first planetary gear is connected to the rope drive wheel; the second star gear is distributed equiangularly on the side of the second gear, and the second star gear is connected to the rope drive wheel.

[0010] Preferably, the forward and reverse synchronous power unit includes a power mounting seat, a power bevel gear, a B1 power bevel gear, a B2 power bevel gear, a B2 power rotating shaft, and a B1 power rotating shaft; the power mounting seat is equipped with a power unit, the power unit is connected to the power bevel gear through a rotating shaft, and the power bevel gear is respectively equipped with a B1 power bevel gear and a B2 power bevel gear on both sides; the B1 power bevel gear is fixedly connected to the B1 power rotating shaft, the B2 power bevel gear is fixedly connected to the B2 power rotating shaft, the rotatable coaxial center of the B1 power rotating shaft is sleeved inside the B2 power rotating shaft, the B2 power rotating shaft is fixedly connected to the first gear concentrically through the front end mounting flange, and the B1 power rotating shaft is fixedly connected to the second gear concentrically through the front end mounting flange.

[0011] Preferably, the driving wheel of the pneumatic power unit is connected to the power shaft of the forward and reverse synchronous power unit, and an eccentric shaft is fixedly provided on the driving wheel, and the eccentric shaft is installed in a strip sleeve; pneumatic piston rods are symmetrically installed on both sides of the strip sleeve, and the pneumatic piston rods are installed in a pneumatic cylinder; the pneumatic cylinder is connected to the air storage box through an air pipe, and the air storage box is connected to the pushing cylinder and the pneumatic motor through an electromagnetic reversing valve and an air pipe, and the air storage box is provided with a safety pressure relief valve, which will release the safety pressure relief valve when the air pressure in the air storage box exceeds the set safety threshold.

[0012] Preferably, the rope drive wheel and the planetary gear are clutch-driven, and a stopping mechanism is further provided on the side of the rope drive wheel.

[0013] Compared with the prior art, the present invention has the following beneficial effects: the present invention realizes the left and right horizontal rotation and up and down rotation of the manipulator to adjust the posture through the output of a power unit, and drives the walking unit through its pneumatic power unit to clamp the cylindrical object to be detected and move it, thereby realizing the cylindrical object to be detected to cross obstacles and move, thereby reducing the use of motors in various components, reducing its own weight and realizing integrated control.

[0014] The forward and reverse synchronous power unit of the present invention can make the rope driving force unit rotate while the symmetrical rope driving wheels rotate forward and reverse synchronously, thereby keeping the driving rope in a taut state to ensure the accuracy of action execution; the forward and reverse synchronous power unit can also drive the power shaft to achieve synchronous driving of the pneumatic power unit's pneumatic power output.

[0015] The power unit includes a rope drive unit, a forward and reverse synchronous power unit, and a pneumatic power unit, which work together to realize the various functions of the manipulator. The rope drive unit drives the first joint to achieve vertical rotation through the drive rope, and also controls the left and right rotation of the clamping unit on the second joint through the drive rope, thereby achieving control of the clamping unit, reducing the use of joint motors and reducing the deadweight. The pneumatic power unit uses air pressure to drive the walking unit to clamp the cylindrical object to be inspected and move it, increasing the manipulator's flexibility and mobility.

[0016] The forward and reverse synchronous power unit in this invention connects the rope drive unit and the pneumatic power unit via a rotating shaft, enabling coordinated drive of the rope drive unit and the pneumatic power unit, improving overall operational efficiency and precision. The clamping unit is connected via a third rotating assembly, a C-guide wheel, a drive rope, and the power unit to form a clamping mechanism, ensuring secure and stable grip on cylindrical objects.

[0017] The walking unit is designed for ease of operation, utilizing a semi-cylindrical bracket and a locking mechanism for closure. The circumferentially distributed walking units allow for movement over cylindrical objects and overcoming obstacles. The various gears and shafts in the rope-driven power unit and forward / reverse synchronous power unit ensure smooth and precise power transmission to the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the power unit of the present invention; Figure 3 is a cross-sectional view of the first rotating assembly of the present invention; Figure 4 is a schematic structural diagram of the second rotating assembly of the present invention; Figure 5 is another structural schematic diagram of the guide wheel of the present invention; Figure 6 is another structural schematic diagram of the guide wheel of the present invention; Figure 7 It is a structural schematic diagram of the power unit of the present invention; Figure 8 This is a schematic structural diagram of the forward and reverse synchronous power unit of the present invention; Figure 9 It is a structural schematic diagram of the rope drive wheel of the present invention; Figure 10 It is a structural schematic diagram of the side surface of the rope drive wheel of the present invention; Figure 11 It is a structural schematic diagram of the walking part of the present invention; Figure 12 It is a side structural diagram of the walking part of the present invention; Figure 13 This is a schematic diagram of the operating principle of the pneumatic power unit of the present invention; Figure 14 A schematic diagram of the present invention for overcoming obstacles; Figure 15 This is a schematic diagram of the use of the synchronous detection of upper and lower cables of the present invention; In the figure: the power unit housing 1, the first joint 2, the second joint 3, the clamping part 4, the walking part 5; the first rotating assembly 21, the second rotating assembly 31, the A guide wheel 32, the B guide wheel 33; the power unit 10, the rope driving force unit 11, the forward and reverse synchronous power unit 12, the pneumatic power unit 13; the power mounting seat 121, the power bevel gear 122, the b1 power bevel gear 123, the b2 power bevel gear 124, the b1 power shaft 125, the b2 power shaft 126, the clamping mechanism 40, the third rotating assembly 41, the C guide wheel 42, the connecting rod clamping mechanism 43; the first gear 111, the second gear 112, the first planetary gear 113, the second planetary gear 114, the rope driving wheel 115, the A Friction transmission plate 116, B friction transmission plate 117, clutch transmission shaft 118, return spring 119, iron core 1110, electromagnetic coil assembly 1111, limiting protrusion 1112; semi-cylindrical bracket 51, rotating shaft 52, locking mechanism 53, walking unit 54, lock slot 55, lock head 56; mounting bracket 511, pushing cylinder 512, push-pull seat 513, bar hole 514, hinged connecting rod 515, walking pulley 516, pneumatic motor 517, push-pull rod 518, mounting main beam 519; driving wheel 131, eccentric shaft 132, bar sleeve 133, pneumatic piston rod 134, pneumatic cylinder 135, air storage box 136, safety pressure relief valve 137, electromagnetic reversing valve 138. DETAILED DESCRIPTION

[0019] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0020] The present invention provides a multi-modal drive coupling inspection robot for crawling on a cylindrical object to be inspected to complete inspection and testing operations; the cylindrical object to be inspected includes but is not limited to cables, cylindrical railings, high-voltage cables, metal steel pipes, etc.

[0021] like Figure 1As shown, this embodiment takes the application of a manipulator crawling on a cable to complete maintenance and inspection operations as an example, and can climb over obstacles when encountering them. The cable detection manipulator includes: a power unit box 1, the power unit box 1 is used to install the power unit 10, the power unit 10 can independently drive the first joint 2 to rotate up and down at both ends of the power unit box 1, the power unit 10 can independently drive the clamping part 4 to rotate left and right at the upper end of the second joint 3, and the power unit 10 can independently drive the clamping part 4 to control the walking part 5 to open or close; in this embodiment, two walking parts 5 are set in the front and back, and the walking part 5 can be opened or closed under the control of the clamping part 4. When an obstacle is encountered in the front, the front walking part 5 opens and the rear walking part 5 closes. The posture of the cable detection manipulator is adjusted by rotating the first joint 2 up and down and the second joint 3 left and right. After the front walking part 5 passes the obstacle, the front walking part 5 is controlled to close again by the clamping part 4, and the rear walking part 5 is opened again. The front walking part 5 continues to move forward on the cable. After the entire cable detection manipulator passes the obstacle, the rear walking part 5 is closed, and the adjustment is completed. It should be noted that the manipulator can carry cable detection instruments to inspect the surface of the cable. Specifically, it can be installed with detection cameras, welding, spraying tools, etc.

[0022] Depend on Figure 1 Combine Figure 2 、 3 As shown, the first joint 2 is rotatably mounted on both ends of the power unit housing 1; specifically, the first joint 2 and the two ends of the power unit housing 1 are connected by a first rotating component 21, and the first rotating component 21 is connected to the power unit 10 through a driving rope, and the first joint 2 is rotated up and down on the rotating shaft by driving the first rotating component 21 to rotate; specifically, the two ends of the first rotating component 21 are rotatably mounted in the shell mounting hole of the power unit housing 1, and a covering flange is provided on the outside of the shell of the power unit housing 1, and the two side walls of the first rotating component 21 and the inner wall of the shell of the first joint 2 are fixedly connected by bolts; a driving rope groove is provided on the first rotating component 21 and the end of the driving rope is inserted into the interior of the first rotating component 21 and fixed by screws; when the driving rope is pulled by the power unit 10, the driving rope drives the first rotating component 21 and the first joint 2 shell to rotate inside the shell of the power unit housing 1, completing the longitudinal up and down angle adjustment.

[0023] Depend on Figure 1 Combine Figure 2 、 4As shown, the second joint 3 is installed at the top of the first joint 2 and the top of the second joint 3 can drive the clamping part 4 to rotate; specifically, the top of the second joint 3 is connected to the clamping part 4 through the second rotating component 31, and the second rotating component 31 is connected to the power part 10 through the driving rope; by driving the second rotating component 3 to rotate, the second joint 3 can be rotated left and right on the rotating shaft; specifically, Figure 1 Combine Figure 2 、 4 As shown, the second rotating component 31 is rotatably connected to the lower surface of the shell of the second joint 3 through a rotating shaft, and a driving rope groove is provided on the second rotating component 31, and the end of the driving rope is inserted into the second rotating component 31 and fixed by a screw; when the driving rope is pulled by the power unit 10, the driving rope drives the clamping part 4 to rotate on the shell of the second joint 3 to complete the horizontal left and right angle adjustment; it should be further explained that A guide wheels 32 are respectively provided on both sides of the second rotating component 31; the A guide wheel 32 is fixedly mounted on the inner wall of the shell of the second joint 3 through a rotating shaft; the A guide wheel 32 is used to change the routing angle of the driving rope; the driving rope is further guided to the power unit 10 through the B guide wheel 33.

[0024] Further, such as Figure 5 As shown, in this embodiment, guide wheel B 33 can be mounted on the same rotating shaft as the first rotating assembly 21. Specifically, guide wheel B 33 and guide wheel C 42 are mounted on the rotating shaft of the first rotating assembly 21. A rotating bearing is provided between guide wheel B 33 and guide wheel C 42 and the rotating shaft of the first rotating assembly 21. That is, when the first rotating assembly 21 rotates, the housing of the first joint 2 rotates within the housing of the power unit housing 1, while guide wheel B 33 and guide wheel C 42 do not rotate with it, thereby guiding the drive ropes of the second rotating assembly 31 and the third rotating assembly 41 to the power unit 10. In this embodiment, installation space can be saved and the load on the manipulator can be reduced.

[0025] Similarly, according to the needs of easy wiring during installation, such as Figure 6 As shown, the B guide wheel 33 and the C guide wheel 42 are installed separately using a rotating shaft different from the first rotating component 21. In this embodiment, a rotating shaft is provided inside the housing of the first joint 2, and the B guide wheel 33 and the C guide wheel 42 are installed on the rotating shaft. Rotating bearings are installed between the rotating shaft and the B guide wheel 33 and the C guide wheel 42 to reduce wear; the guide wheels can also keep the drive rope in a taut state to make the output distance more accurate.

[0026] The clamping part 4 is horizontally rotatably mounted on the top of the second joint and controls the opening or closing of the walking part 5; Figure 1 Combine Figure 2As shown, the clamping part 4 is connected through the third rotating component 41, the C guide wheel 42, the driving rope and the power part 10, and the third rotating component 41 is fixedly mounted on the output gear arm shaft of the clamping mechanism 40; further, the clamping mechanism 40 includes a pair of mutually engaged gear arms, and a connecting rod clamping mechanism 43 connected to the gear arms; the connecting rod clamping mechanism 43 realizes the opening and closing of the walking part 5 along the rotating axis under the rotation of the gear arms.

[0027] The walking part 5 is used to clamp the cable after closing and drive the detection robot to move on the cable; the walking part 5 includes two semi-cylindrical brackets 51, the bottoms of the two semi-cylindrical brackets 51 are hinged by a rotating shaft 52, and the tops of the semi-cylindrical brackets are closed by a locking mechanism 53; there are no less than three walking units 54 distributed on the inner circumference of the semi-cylindrical bracket 51; the walking unit 54 can adjust the clamping distance according to the circumferential thickness of the cable, and realize power output along the surface of the cable to realize forward and backward movement.

[0028] Depend on Figure 2 As shown in Figures 7 and 8, the power unit 10 includes a rope driving force unit 11, a forward and reverse synchronous power unit 12 and a pneumatic power unit 13; the forward and reverse synchronous power unit 12 is connected to the rope driving force unit 11 through a rotating shaft, and the rope driving wheels 115 symmetrically distributed on both sides of the rope driving force unit 11 rotate synchronously forward and reverse; the forward and reverse synchronous power unit 12 is connected to the pneumatic power unit 13 through a rotating shaft.

[0029] In this embodiment, the rope drive force unit 11 includes a first gear 111, a second gear 112, a first planetary gear 113, a second star gear 114, and a rope drive wheel 115. The first planetary gears 113 are evenly distributed on the side of the first gear 111, and the first planetary gears 113 are connected to the rope drive wheel 115. The second star gears 114 are evenly distributed on the side of the second gear 112, and the second star gears 114 are connected to the rope drive wheel 115. It should be noted that the rope drive wheel 115 can realize clutch transmission with the planetary gear according to needs, that is, when the rope drive wheel 115 does not need to rotate, it can be separated from the planetary gear and fixed; when the rope drive wheel 115 needs to rotate to drive the driving rope to rotate, it can be connected to the planetary gear power, and the planetary gear drives the rope drive wheel 115 to rotate.

[0030] Specifically, such as Figure 9 、 10As shown, the rope drive wheel 115 is movably mounted on the clutch transmission shaft 118, and the clutch transmission shaft 118 is rotatably mounted on the housing bracket of the power unit box 1. One end of the clutch transmission shaft 118 is provided with a B friction transmission plate 117, and the other end of the clutch transmission shaft 118 is provided with an iron core 1110. A return spring 119 is provided between the iron core 1110 and the housing bracket of the power unit box 1, and an electromagnetic coil assembly 1111 is provided on the right side of the iron core; the right side of the rope drive wheel 115 is also provided with a stopping mechanism. In this embodiment, the stopping mechanism includes a limit stop fixed to the right side of the rope drive wheel 115. The limiting protrusion 1112 and the slot on the shell bracket wall of the power unit box body 1 opposite to the limiting protrusion 1112; when the electromagnetic coil assembly 1111 is energized, the iron core 1110 and the electromagnetic coil assembly 1111 are magnetically coupled together, the rope drive wheel 115 moves to the right, and the limiting protrusion 1112 enters the slot, which stops the rope drive wheel 115, that is, the rope drive wheel 115 cannot rotate; after the electromagnetic coil assembly 1111 is de-energized, under the action of the reset spring 119, the rope drive wheel 115 moves to the left, at this time the friction transmission plate A 116 and the friction transmission plate B 117 are in contact, and the rope drive wheel 115 rotates under the action of the planetary gear.

[0031] The forward and reverse synchronous power unit 12 includes a power mounting seat 121, a power bevel gear 122, a b1 power bevel gear 123, a b2 power bevel gear 124, a b2 power shaft 125, and a b1 power shaft 126; a power unit (not shown) is mounted on the power mounting seat 121, and the power unit can be a power output member such as a motor or an electric motor and an energy supply member connected to the power output member in the embodiment, and the energy supply member can be a battery or a power line, etc.; the power unit is connected to the power bevel gear 122 through a shaft, and b1 power bevel gears 123 and b2 power bevel gears 124 are respectively mounted on both sides of the power bevel gear 122; the b1 power bevel gear 123 is fixedly connected to the b1 power shaft 125, and the b2 The power bevel gear 124 is fixedly connected to the b2 power shaft 126. The b1 power shaft 125 is rotatably coaxially mounted within the b2 power shaft 126. The b2 power shaft 126 is fixedly connected to the first gear 111 coaxially via a front mounting flange. The b1 power shaft 125 is fixedly connected to the second gear 112 coaxially via a front mounting flange. Specifically, in this embodiment, when the motor drives the power bevel gear 122 to rotate clockwise, it drives the b1 power bevel gear 123 to rotate clockwise, thereby causing the b1 power shaft 125 to rotate the first gear 111. The b2 power bevel gear 124 rotates counterclockwise, thereby causing the b2 power shaft 126 to drive the second gear 112 to rotate in the opposite direction to the first gear 111. The forward and reverse synchronous power unit 12 can cause the rope drive pulleys 115 of the rope drive force unit 11 to rotate simultaneously, one in the forward direction and the other in the reverse direction, thereby maintaining the drive rope in a taut state and ensuring the accuracy of the movement.

[0032] Depend on Figure 11 、 12 As shown, the walking unit 54 includes a mounting bracket 511, a pushing cylinder 512, a push-pull seat 513, a bar hole 514, a hinged connecting rod 515, a walking pulley 516, a pneumatic motor 517, and a push-pull rod 518; the walking pulleys 516 are distributed angularly on the semi-cylindrical bracket 51, and the angularly symmetrical distribution can maximize the contact between the walking pulleys 516 and the cable surface and make each walking pulley evenly stressed. The following is an explanation of one of the walking pulleys 516. The walking pulley 516 is provided with a pair of hinged connecting rods 515, which are connected to the mounting main beam 519. The two sides of the walking pulley 516 are connected through a rotating shaft and one end of a push-pull rod 518. The other end of the push-pull rod 518 is connected to the push-pull seat 513. The push-pull seat 513 is installed in the strip hole 514 of the mounting main beam 519. The push-pull seat 513 is fixedly connected to one end of the pushing cylinder 512. The pushing cylinder 512 is connected to the cylinder mounting bracket 511, and the cylinder mounting bracket 511 is fixedly connected to the mounting main beam 519; the walking pulley 516 is also equipped with an air motor 517, which is used to drive the belt of the walking pulley 516 to rotate; the air motor 517 and the pushing cylinder 512 are connected to the pneumatic power unit 13 through an air pipe.

[0033] As shown in 13, the pneumatic power unit 13 is driven by the power shaft of the forward and reverse synchronous power unit 12 to realize the pneumatic power output; specifically, the end of the b1 power shaft 125 is fixedly connected to the central axis of the driving wheel 131, and the driving wheel 131 is fixedly provided with an eccentric shaft 132, which is installed in a strip sleeve 133. When the driving wheel 131 rotates, the eccentric shaft 132 is driven to make a circular motion, and the eccentric shaft 132 pushes the strip sleeve 133 to move in a circular motion left and right; pneumatic piston rods 134 are symmetrically installed on both sides of the strip sleeve 133, and the pneumatic piston rods 134 are installed in the pneumatic cylinder 135; when the strip sleeve 133 moves in a circular motion left and right, the pneumatic piston rods 134 are driven The air is continuously pushed and pulled in the pneumatic cylinder 135 to store air. It should be noted that a pair of one-way air inlet valves in opposite directions are provided on the side walls of the pneumatic cylinder 135. When the pneumatic piston rod 134 moves out of the pneumatic cylinder, one one-way air inlet valve admits air and the other one-way air inlet valve closes, and the air is then sucked into the pneumatic cylinder. When the pneumatic piston rod 134 moves inward, the one-way air inlet valve that originally admitted air closes, and the one-way air inlet valve that was originally closed presses the air outward into the air storage box 136. Since the pneumatic piston rod 134 and the pneumatic cylinder 135 are symmetrically arranged on the left and right sides, when the driving wheel 131 rotates, the air pressure is continuously input into the air storage box 136 in a left-right cycle, so that the air pressure in the air storage box 136 can maintain a stable air pressure. Furthermore, the air storage tank 136 is provided with a safety pressure relief valve 137. When the air pressure in the air storage tank 136 exceeds a set safety threshold, the safety pressure relief valve 137 is opened to relieve pressure, thereby ensuring the safety of the equipment.

[0034] The air storage box 136 is connected to the pushing cylinder 512 and the pneumatic motor 517 through the air pipe, and the air pipes on both sides of the pushing cylinder 512 are provided with electromagnetic reversing valves 138; when the electromagnetic reversing valve 138 is switched to the left and right, the pushing cylinder 512 extends or retracts; when the electromagnetic reversing valve 138 is in the middle gear, the pneumatic motor 517 works, and the pushing cylinder 512 remains stationary at this time; during specific operation, after the electromagnetic reversing valve 138 is switched to the right gear, the pushing cylinder 512 extends outward, that is, the pushing cylinder 512 pushes the walking unit 54 to contact the cable surface, and then the electromagnetic reversing valve 138 is switched to the middle gear, the pneumatic motor 517 starts working, and the pushing cylinder 512 air inlet and outlet closed strokes are locked, and the moving operation is performed at this time. Similarly, after the detection is completed, the electromagnetic reversing valve 138 is switched to the left gear, and the pushing cylinder 512 retracts at this time, and the walking unit 54 is separated from the cable surface.

[0035] The walking part 5 includes a semi-cylindrical bracket 51, a rotating shaft 52, a locking mechanism 53, a walking unit 54, a locking slot 55, and a locking head 56; semi-cylindrical brackets 51 are provided at both ends of the walking part 5, and the semi-cylindrical brackets 51 are symmetrically installed to form a rotatable annular bracket. The lower end of the semi-cylindrical bracket 51 is connected by a rotating shaft 52, and the upper end of the semi-cylindrical bracket 51 is provided with a locking mechanism 53. The annular brackets are connected by installing a main beam 519, and the installing main beam 519 is installed with a walking unit 54, and the installing main beams 519 are equiangularly distributed on the annular bracket.

[0036] The locking mechanism 53 is composed of a locking groove 55 provided at the semicircular end of the semi-cylindrical bracket 51 and another locking head 56 docking with the semicircular end of the semi-cylindrical bracket 51 .

[0037] The side surface of the semi-cylindrical bracket 51 is fixedly connected to the connecting rod clamping mechanism 43 of the clamping portion 4; When the clamping portion 4 closes the connecting rod clamping mechanism 43 through the gear arm, the locking head 56 extends into the locking groove 55 to form a closed cylindrical shape.

[0038] When the present invention is in use, the pneumatic power unit 13 in the power unit 10 is initially in its initial state. The walking unit 5 is then opened under the control of the clamping unit 4, which is controlled by the power unit 10 via the drive rope. At this point, the cable is placed in the space between the two semi-cylindrical supports 51. Subsequently, the power unit 10 again drives the clamping unit 4 via the drive rope, causing the clamping mechanism 40 of the clamping unit 4 to operate. Specifically, a pair of interlocking gear arms rotate, driving the connecting rod clamping mechanism 43 connected thereto to close. As the connecting rod clamping mechanism 43 closes, the locking head 56 at the upper end of the semi-cylindrical support 51 extends into the locking groove 55, and the two semi-cylindrical supports 51 close to form a closed cylindrical structure, thereby firmly clamping the cable. At the same time, the forward-reverse synchronous power unit 12 in the power unit 10 begins operating, driving the rope drive unit 11 via its rotating shaft. This causes the rope drive wheels 115, symmetrically located on either side of the rope drive unit 11, to rotate synchronously. This, in turn, drives the first joint 2 and the second joint 3 via the drive ropes, adjusting the manipulator's posture and aligning the travel unit 54 on the travel unit 5 with the cable surface. Next, the pneumatic power unit 13, driven by the power shaft of the forward-reverse synchronous power unit 12, generates pneumatic power. The drive wheel 131 rotates, driving the eccentric shaft 132 in a circular motion, which in turn propels the bar sleeve 133 in a cyclical motion. This causes the pneumatic piston rod 134 to continuously push and pull within the pneumatic cylinder 135, storing air. The air pressure in the air reservoir 136 gradually increases and remains stable. When the air pressure in the air reservoir 136 reaches the required operating pressure, the electromagnetic reversing valve 138 shifts to the right position, causing the push cylinder 512 to extend outward, pushing the travel unit 54 into close contact with the cable surface. Then, the electromagnetic reversing valve 138 switches to the middle position, and the pneumatic motor 517 starts to operate, driving the belt of the travel pulley 516, thereby driving the entire manipulator to move on the cable and begin to perform maintenance, inspection, and other tasks. If an obstacle is encountered during operation, the power unit 10 can drive the first joint 2 to rotate up and down and the second joint 3 to rotate left and right, adjusting the manipulator's posture and achieving obstacle-crossing operation.

[0039] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-mode drive coupling inspection robot, characterized in that: It includes a walking part that is arranged side by side in front and back and can open and close to clamp the cylindrical object to be inspected and can overcome obstacles and move on the cylindrical object to be inspected under the action of a manipulator; The clamping part is used to control the opening or closing of the walking part and is fixedly connected to the outer side of the walking part; The second joint is used to control the horizontal rotation of the clamping part and is connected to the bottom of the clamping part; The first joint is used to control the up and down rotation of the manipulator, and is fixedly connected to the lower end of the second joint and rotatably connected to the power unit box; The power unit box is used to install the power unit. The power unit drives the first joint to rotate up and down at both ends of the power unit box through the driving rope and is installed inside the power unit box; the power unit drives the clamping part to rotate left and right at the upper end of the second joint through the driving rope; the power unit drives the clamping part to control the opening or closing of the walking part through the driving rope, and the power unit drives the walking part to clamp the cylindrical object to be detected and move it through the pneumatic power unit.

2. A multi-mode drive coupling inspection manipulator according to claim 1, characterized in that: The power unit includes a rope driving force unit, a forward and reverse synchronous power unit and a pneumatic power unit; the forward and reverse synchronous power unit is connected to the rope driving force unit through a rotating shaft, and the rope driving wheels symmetrically distributed on both sides of the rope driving force unit rotate synchronously forward and reverse; the forward and reverse synchronous power unit is connected to the pneumatic power unit through a rotating shaft.

3. The multi-mode drive coupling inspection robot according to claim 1, characterized in that: The first joint and both ends of the power unit housing are connected via a first rotating assembly, which is connected to the power unit via a driving rope. The first rotating assembly is driven to rotate so that the first joint can rotate up and down on the rotating shaft.

4. The multi-mode drive coupling inspection robot according to claim 1, characterized in that: The top of the second joint is connected to the clamping part through the second rotating component, and the second rotating component is connected to the power part through the driving rope; the second joint is rotated left and right on the rotating shaft by driving the second rotating component to rotate.

5. The multi-mode drive coupling inspection robot according to claim 1, characterized in that: The clamping part is connected through a third rotating assembly, a C guide wheel, a driving rope and a power part, and the third rotating assembly is fixedly mounted on the output gear arm shaft of the clamping mechanism; the clamping mechanism includes a pair of mutually engaged gear arms, and a connecting rod clamping mechanism connected to the gear arms.

6. The multi-mode drive coupling inspection robot according to claim 1, characterized in that: The walking part includes two semi-cylindrical brackets, the bottoms of the two semi-cylindrical brackets are hinged by a rotating shaft, and the tops of the semi-cylindrical brackets are closed by a locking mechanism; no less than three walking units are distributed circumferentially inside the semi-cylindrical brackets.

7. The multi-mode drive coupling inspection robot according to claim 2, characterized in that: The rope drive force unit includes a first gear, a second gear, a first planetary gear, a second star gear, and a rope drive wheel; the first planetary gears are distributed equiangularly on the side of the first gear, and the first planetary gears are connected to the rope drive wheel; the second star gears are distributed equiangularly on the side of the second gear, and the second star gears are connected to the rope drive wheel.

8. The multi-mode drive coupling inspection robot according to claim 2, characterized in that: The forward and reverse synchronous power unit includes a power mounting seat, a power bevel gear, a B1 power bevel gear, a B2 power bevel gear, a B2 power rotating shaft, and a B1 power rotating shaft; the power mounting seat is equipped with a power unit, which is connected to the power bevel gear through a rotating shaft, and the power bevel gear is respectively equipped with a B1 power bevel gear and a B2 power bevel gear on both sides; the B1 power bevel gear is fixedly connected to the B1 power rotating shaft, and the B2 power bevel gear is fixedly connected to the B2 power rotating shaft, and the rotatable coaxial center of the B1 power rotating shaft is sleeved inside the B2 power rotating shaft, and the B2 power rotating shaft is fixedly connected to the first gear concentrically through a front-end mounting flange, and the B1 power rotating shaft is fixedly connected to the second gear concentrically through a front-end mounting flange.

9. The multi-mode drive coupling inspection robot according to claim 2, characterized in that: The driving wheel of the pneumatic power unit is connected to the power shaft of the forward and reverse synchronous power unit. An eccentric shaft is fixedly provided on the driving wheel, and the eccentric shaft is installed in a strip sleeve; pneumatic piston rods are symmetrically installed on both sides of the strip sleeve, and the pneumatic piston rods are installed in a pneumatic cylinder; the pneumatic cylinder is connected to the air storage box through an air pipe, and the air storage box is connected to the pushing cylinder and the pneumatic motor through an electromagnetic reversing valve and an air pipe. The air storage box is provided with a safety pressure relief valve, which will release the safety pressure relief valve when the air pressure in the air storage box exceeds a set safety threshold.

10. The multi-mode drive coupling inspection robot according to claim 7, characterized in that: The rope drive wheel and the planetary gear are clutch-driven, and a stop mechanism is also provided on the side of the rope drive wheel.

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