Cable robot capable of crossing obstacles

Abstract

The invention relates to the technical field of inspection robots, in particular to a cable robot capable of crossing obstacles, which comprises a shell, the top surface of the shell is connected with two transverse slide rails, the middle parts of the transverse slide rails are connected with a base, two sides of the base are respectively provided with a base II, and the bases II are in sliding connection with the transverse slide rails; the top of the base and the top of the second base are each connected with a sleeve, an insertion pipe is rotationally connected into each sleeve, the top wall of each insertion pipe is connected with the bottom wall of the corresponding sleeve through a torsional spring, the top of each insertion pipe is connected with a guide wheel through a driving part, and the sleeves are arranged in the device and are rotationally matched with the insertion pipes and connected with the insertion pipes through torsional springs. The rotating guide wheel can move in the direction away from the obstacle so as to avoid the obstacle and keep contact fit with the obstacle at the same time, so that the guide wheel is in friction fit with the cable quickly after crossing the obstacle, and the device is prevented from falling off.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, and particularly relates to a cable robot capable of crossing obstacles. BACKGROUND

[0002] The rope inspection robot is a kind of efficient and automated detection equipment, which is mainly applied to the inspection of high-altitude and long-distance linear infrastructure. It moves autonomously along the pre-installed cable, carries various sensors such as high-definition cameras, infrared thermal imagers and laser radars, and realizes real-time monitoring and data acquisition of facilities such as power transmission lines, bridge cables and oil and chemical pipelines. In the power industry, it can replace manual work to complete high-risk and high-intensity line inspection tasks, accurately find defects such as loose fittings, broken insulators and abnormal heating of wires; in the bridge field, it can perform close-range high-definition imaging and damage identification on hidden structures such as main cables and suspension cables, greatly improving the inspection efficiency and safety. In addition, in petrochemical bases, large ports and other scenes, it can also run along the pipeline or track to monitor equipment temperature, leakage or deformation problems.

[0003] However, the prior art still has deficiencies, for example, a rope track inspection robot anti-falling device with patent number 202321236914.9, including a robot box, a base, a camera, a rope and an anti-falling mechanism, the front side of the robot box is provided with a base, the camera is installed at the bottom of the base, the anti-falling mechanism is installed at the top of the robot box, the anti-falling mechanism includes a sliding cover, a screw, a lug, an upper pulley, a fixed seat, a pressing plate, a driving wheel, a motor and a lower pulley, the sliding cover is locked with the lug through the screw, the top end of the upper pulley is connected with the sliding cover, the bottom end of the fixed seat is fixed with the robot box, the bottom center of the sliding cover is provided with a pressing plate, the lower pulley is arranged corresponding to the upper pulley, the device has design deficiencies, based on the prior art, the rope or cable is too long and will swing, so an installation plate needs to be arranged on the cable, the installation plate is connected with the rod to fix the cable, at this time, the installation plate forms an obstacle, but the comparative document cannot cross the obstacle, which seriously reduces the adaptability of the device. SUMMARY

[0004] The present application provides a cable robot capable of crossing obstacles to solve the problems in the background art.

[0005] In order to achieve the above object, the present application provides the following technical solutions: A cable robot capable of crossing obstacles, comprising: a shell, two lateral sliding rails are connected to the top surface of the shell, a base is connected to the middle of the lateral sliding rails, a base two is arranged on each side of the base, the base two is slidingly connected with the lateral sliding rail, a sleeve is connected to the top of the base and the base two, a cannula is rotatably connected in the sleeve, the cannula top wall and the sleeve bottom wall are connected by a torsional spring, the cannula top is connected with a guide wheel through a driving element, and the guide wheel is in frictional cooperation with a cable.

[0006] Preferably, the driving element comprises: a motor, the cannula top is connected with the motor, the motor output end is connected with a gear two through a gear, and the gear two is concentrically rotatably connected with the guide wheel on the motor.

[0007] Preferably, the middle of the two lateral sliding rails is respectively threadedly connected with a threaded part of a double screw, the lateral sliding rail is slidingly connected with the top surface of the shell, a bevel gear on the double screw is meshingly connected with a bevel gear two, the bevel gear two is connected with the output end of a motor two, and the motor two is connected with the top of the shell.

[0008] Preferably, the two base twos are slidingly connected through an optical axis.

[0009] Preferably, the two optical axes are respectively threadedly connected with a threaded part of a double screw two, the end of the double screw two is connected with the output end of a motor three, and the motor three is connected with the shell.

[0010] Preferably, the motor is connected with an air pump, the input end of the air pump is coaxially connected with the gear two, and the air outlet pipe of the air pump is arranged towards the meshing position of the gear and the gear two.

[0011] Preferably, the motor side wall is connected with a protective shell, a plurality of end portions of heat dissipation fins are connected in parallel on the motor side wall, each heat dissipation fin is slidingly connected with a heat dissipation fin two, the other end of the heat dissipation fin two penetrates out of the side wall of the protective shell, and the plurality of heat dissipation fin twos are connected through connecting rods.

[0012] Preferably, a plurality of fan blades are connected to the output shaft of the motor, the fan blades are arranged in the interior of a cooling pump shell, the end portions of an air inlet pipe and an air outlet pipe are connected to the cooling pump shell, the output end of the air outlet pipe is arranged towards the heat dissipation fin two, a pressure column is slidingly and sealingly connected to the inner wall of the air outlet pipe, the top of the pressure column arranged in the air outlet pipe is provided with an inclined surface arranged towards the fan blades, the bottom of the pressure column arranged outside the air outlet pipe is connected with the top surface of the protective shell through a spring, and the pressure column is connected with the connecting rod through a guide element.

[0013] Preferably, the guide element comprises: a connecting rod two and an inclined surface two, the protective shell is slidingly and sealingly connected with the connecting rod two, the top of the connecting rod two is connected with the pressure column, the bottom of the connecting rod two arranged in the protective shell is provided with the inclined surface two, the inclined surface two is arranged away from the motor, and the inclined surface two is slidingly connected with the connecting rod.

[0014] Preferably, the motor side wall is connected with the end of the gas storage tube, the gas storage tube is placed in the protective shell, the piston is slidingly sealed in the gas storage tube, helium is stored between the end face of the piston facing the motor and the inner wall of the gas storage tube, the other end face of the piston is connected with the end of the push rod, the push rod is in sliding sealing cooperation with the gas storage tube, and the other end of the push rod placed outside the gas storage tube is in contact cooperation with the side wall of the connecting rod.

[0015] The beneficial effects of the present application are as follows: In the scheme of the present application: The sleeve and the cannula are arranged in rotational cooperation in the device, and are connected through a torsional spring. When the device encounters an obstacle, the guide wheel in rotation can move away from the obstacle, thereby avoiding the obstacle while maintaining contact with the obstacle, so as to quickly cooperate with the cable after passing over the obstacle, preventing the device from falling off. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the main structure of the present application; Figure 2 It is a cross-sectional view of the sleeve of the present application; Figure 3 It is a schematic diagram of the bevel gear and bevel gear two meshing connection relationship of the present application; Figure 4 It is a schematic diagram of the optical axis and double screw two thread connection relationship of the present application; Figure 5 It is a schematic diagram of the installation position of the wind pump of the present application; Figure 6 It is a schematic diagram of the protective shell structure of the present application; Figure 7 It is a cross-sectional view of the protective shell of the present application; Figure 8 It is a schematic diagram of the installation position of the gas storage tube of the present application; Figure 9 It is a schematic diagram of the guide structure of the present application.

[0017] Among them: shell 1, transverse slide rail 2, base 3, base two 4, sleeve 5, cannula 6, torsional spring 7, driving part 8, guide wheel 9, motor 10, gear 11, gear two 12, double screw 13, bevel gear 14, bevel gear two 15, motor two 16, optical axis 17, double screw two 18, motor three 19, wind pump 20, air outlet pipe 21, protective shell 22, fin 23, fin two 24, fan blade 25, cooling pump shell 26, air inlet pipe 27, air outlet pipe 28, pressure column 29, inclined plane 30, spring 31, guide 32, connecting rod two 33, inclined plane two 34, connecting rod 35, gas storage tube 36, piston 37, push rod 38. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, in which it is understood that the preferred embodiments described below are merely used to illustrate and explain the present application, and are not used to limit the present application.

[0019] Embodiment one: refer to Figures 1-9 A cable robot capable of crossing obstacles, comprising: a shell 1, the top of the shell 1 is connected with two transverse sliding rails 2, the middle of the transverse sliding rail 2 is connected with a base 3, the two sides of the base 3 are each provided with a base two 4, the base two 4 is slidingly connected with the transverse sliding rail 2, the top of the base 3 and the base two 4 are each connected with a sleeve 5, the sleeve 5 is rotatably connected with a spigot 6, the spigot 6 top wall and the sleeve 5 bottom wall are connected by a torsional spring 7, the spigot 6 top is connected with a guide wheel 9 through a driving element 8, and the guide wheel 9 is in frictional cooperation with the cable.

[0020] The principle of the above scheme is: The bottom of the shell 1 is used to connect monitoring equipment and various sensor devices for inspection, the top of the shell 1 is parallelly connected with two transverse sliding rails 2, the middle of the transverse sliding rail 2 is connected with a base 3, the base 3 and the base two 4 provided on the side are each connected with a sleeve 5, the sleeve 5 is connected with a driving element 8 through a spigot 6, the driving element 8 drives the guide wheel 9 to rotate, the number of guide wheels 9 provided on each transverse sliding rail 2 is equal, and the opposite two guide wheels 9 cooperate to work, the rotating guide wheel 9 is in frictional cooperation with the cable to drive the device to move along the cable, when the device encounters an obstacle, i.e. an installation plate used to fix the cable, the guide wheel 9 located in the direction of the device movement is in contact with the installation plate, and at the same time, the sleeve 5 and the spigot 6 are away from the installation plate under the cooperation of the rotating connection, at this time, the torsional spring 7 is twisted to store energy, after the contact with the installation plate is ended, under the elastic force of the torsional spring 7 returning to the original position, the guide wheel 9 is in reverse rotating connection with the sleeve 5 and the spigot 6, and re-contacts with the cable to continue driving the device to move.

[0021] The beneficial effects of the above scheme are: The sleeve 5 and the spigot 6 in the device are in rotating cooperation, and are connected through the torsional spring 7, when the device encounters an obstacle, the rotating guide wheel 9 can move away from the obstacle, thereby avoiding the obstacle, while maintaining contact with the obstacle, so as to quickly frictionally cooperate with the cable after crossing the obstacle, preventing the device from falling off; The torsional spring 7 located in the sleeve 5 and the spigot 6 can avoid contact with water or corrosive substances in the outside world, prolonging the service life of the device and reducing the number of maintenance times of the device.

[0022] Embodiment two: refer to Figures 1-9The driving member 8 comprises a motor 10, a gear 11 and a gear two 12, the motor 10 is connected to the top of the insertion tube 6, the output end of the motor 10 is connected to the gear two 12 through the gear 11, and the gear two 12 is connected to the motor 10 in a concentric rotating mode.

[0023] The principle and beneficial effects of the above scheme are: When the device needs to move forward, the output end of the motor 10 drives the gear 11 to rotate, the gear 11 drives the gear two 12 connected therewith to rotate, the gear two 12 drives the guide wheel 9 to rotate, and the device is driven to move forward through the friction with the cable; When the device needs to move backward, the output end of the motor 10 drives the gear 11 to rotate reversely, the gear 11 drives the gear two 12 connected therewith to rotate reversely, the gear two 12 drives the guide wheel 9 to rotate reversely, and the device is driven to move backward through the friction with the cable, and the meshing connection of the gear 11 and the gear two 12 plays a role of speed regulation; The motor 10 is connected to the top of the insertion tube 6, so that the motor 10 can rotate relative to the top of the shell 1 while driving the guide wheel 9.

[0024] Embodiment three: Figures 1-9 The middle portions of the two lateral sliding rails 2 are respectively threadedly connected to the threaded portions of the double screws 13, the lateral sliding rails 2 are slidingly connected to the top surface of the shell 1, the bevel gears 14 on the double screws 13 are meshingly connected to bevel gear two 15, the bevel gear two 15 is connected to the output end of the motor two 16, and the motor two 16 is connected to the top of the shell 1.

[0025] The principle and beneficial effects of the above scheme are: When the output end of the motor two 16 drives the bevel gear two 15 to rotate, the bevel gear two 15 drives the bevel gear 14 connected therewith to rotate, and the bevel gear 14 drives the double screws 13 to rotate, at this time, the two lateral sliding rails 2 are close to each other, and the two guide wheels 9 arranged synchronously and oppositely are close to each other; When the output end of the motor two 16 drives the bevel gear two 15 to rotate reversely, the bevel gear two 15 drives the bevel gear 14 connected therewith to rotate reversely, and the bevel gear 14 drives the double screws 13 to rotate reversely, at this time, the two lateral sliding rails 2 are away from each other, and the two guide wheels 9 arranged synchronously and oppositely are away from each other; The two guide wheels 9 close to each other can be used for installing the device on a single cable, and can also be used for taking the device off from the two parallel cables; The two guide wheels 9 away from each other can be used for dismounting the device on a single cable, and can also be used for installing the device on the two parallel cables, so that the device can be applied to various cable toolings, and can be efficiently dismounted and installed while ensuring that the device can smoothly move on the cable parts, thereby greatly improving the dismounting and mounting efficiency of the device; When the cable used by the device is two parallel cables, the rotating connection of the sleeve 5 and the cannula 6, and the torsional spring 7 connected thereto, can still assist in guiding the moving guide wheels 9 to cross the obstacles, further improving the practicability of the device. The horizontal sliding rails 2 are close to or away from the cables when sliding on the top surface of the shell 1.

[0026] Embodiment four: refer to Figures 1-9 The two opposite base twos 4 are slidingly connected through the optical shaft 17.

[0027] The principles and beneficial effects of the above scheme are: When the two horizontal sliding rails 2 are close to or away from each other, the two opposite base twos 4 are slidingly connected through the optical shaft 17, which can improve the stability of the moving parts.

[0028] Embodiment five: refer to Figures 1-9 The two optical shafts 17 are respectively threadedly connected with a threaded part of the double screw two 18, the end of the double screw two 18 is connected with the output end of the motor three 19, and the motor three 19 is connected with the shell 1.

[0029] The principles and beneficial effects of the above scheme are: No matter whether the cable used by the device is single or double, the installation plate will encounter a situation that the length along the cable direction is too long, at this time the output end of the motor three 19 can drive the double screw two 18 to rotate, the double screw two 18 drives the two optical shafts 17 to move in opposite directions, the distance between the two base twos 4 on the same horizontal sliding rail 2 increases, which can prevent only one pair of oppositely arranged two guide wheels 9 from being frictionally matched with the cable when crossing obstacles, and also can avoid all guide wheels 9 from being frictionally matched with the obstacles, thereby avoiding the device from falling off the cable, and improving the safety and stability of the device when moving.

[0030] Embodiment six: refer to Figures 1-9 The motor 10 is connected with a wind pump 20, the input end of the wind pump 20 is coaxially connected with the gear two 12, and the air outlet pipe 21 of the wind pump 20 is arranged towards the meshing position of the gear 11 and the gear two 12.

[0031] The principles and beneficial effects of the above scheme are: When the motor 10 is working, the wind pump 20 is driven to work through the rotating gear two 12, the air outlet pipe 21 of the wind pump 20 can output cooling air to the gear 11 and the gear two 12, and when the rotating speed of the motor 10 is large, the output air speed is large, therefore the wind pump 20 can synchronously adjust the air outlet speed, thereby ensuring the cooling efficiency of the meshing position of the two gear parts, preventing the phenomenon of overheating of the parts, and prolonging the service life of the parts.

[0032] Embodiment seven: refer to Figures 1-9 The motor 10 side wall is connected with a protective shell 22, and a plurality of end portions of heat dissipation fins 23 are connected in parallel on the motor 10 side wall. Each heat dissipation fin 23 is in sliding connection with a heat dissipation fin two 24. The other end of the heat dissipation fin two 24 penetrates out of the protective shell 22 side wall. The plurality of heat dissipation fin twos 24 are connected through connecting rods 35.

[0033] The principle and beneficial effects of the above scheme are: When the motor 10 works, it will heat up. The heat can be absorbed by the heat dissipation fins 23 in the protective shell 22. Then the heat dissipation fins 23 transfer the heat to the heat dissipation fin two 24. The part of the heat dissipation fin two 24 outside the protective shell 22 is used for heat dissipation, so as to prevent the motor 10 from burning due to overheating during work.

[0034] Embodiment eight: refer to Figures 1-9 A plurality of fan blades 25 are connected on the motor 10 output shaft. The fan blades 25 are arranged in the inside of a cooling pump shell 26. The cooling pump shell 26 is connected with the end portions of an air inlet pipe 27 and an air outlet pipe 28. The output end of the air outlet pipe 28 is arranged towards the heat dissipation fin two 24. A pressure column 29 is in sliding and sealing connection on the inner wall of the air outlet pipe 28. The top of the pressure column 29 arranged in the air outlet pipe 28 is provided with an inclined surface 30 arranged towards the fan blades 25. The bottom of the pressure column 29 arranged outside the air outlet pipe 28 is connected with the top surface of the protective shell 22 through a spring 31. The pressure column 29 is connected with the connecting rod 35 through a guide 32.

[0035] The principle and beneficial effects of the above scheme are: When the motor 10 output shaft rotates, the fan blades 25 connected thereon rotate synchronously. The cooling pump shell 26 absorbs the external air through the air inlet pipe 27 and then outputs the air through the air outlet pipe 28. The air outlet pipe 28 is arranged towards the heat dissipation fin two 24, so as to cool the heat dissipation fin two 24 transferring heat, thereby improving the cooling efficiency of the motor 10. Further, the faster the rotation speed of the motor 10 output shaft is, the faster the air flow speed of the air output by the air outlet pipe 28 is, so as to ensure the cooling effect of the motor 10. When the air is output in the air outlet pipe 28, the air pressure acts on the output end of the pressure column 29. The pressure column 29 moves downward and the spring 31 is compressed. Synchronously, the pressure column 29 drives the connecting rod 35 to move through the guide 32. The connecting rod 35 moves away from the motor 10, so as to move the heat dissipation fin two 24 outside the protective shell 22, thereby increasing the area of the heat dissipation fin two 24 arranged outside the protective shell 22. At the same time, the heat dissipation area of the heat dissipation fin two 24 is increased, and the high-speed flowing air further ensures the cooling effect. When the motor 10 ends rotating, the air outlet pipe 28 has no air output, the pressure column 29 resets under the elastic force of the spring 31, the pressure column 29 drives the connecting rod 35 to reset through the guide 32, so as to realize the storage of the second heat dissipation fin 24, reduce the area of the second heat dissipation fin 24 outside the protective shell 22, prevent the second heat dissipation fin 24 from being damaged, and reduce the probability of contacting the dust or water in the air.

[0036] Embodiment nine: Figures 1-9 The guide 32 comprises a connecting rod two 33 and an inclined surface two 34, the protective shell 22 is in sliding sealing connection with the connecting rod two 33, the top of the connecting rod two 33 is connected with the pressure column 29, the bottom of the connecting rod two 33 in the protective shell 22 is provided with the inclined surface two 34, the inclined surface two 34 is away from the motor 10, and the inclined surface two 34 is in sliding connection with the connecting rod 35.

[0037] The principle and beneficial effects of the above scheme are: When the pressure column 29 moves downward, the connecting rod two 33 moves downward synchronously with the inclined surface two 34, and the connecting rod 35 in sliding connection with the inclined surface two 34 moves away from the motor 10; When the pressure column 29 moves upward, the connecting rod two 33 moves upward synchronously with the inclined surface two 34, and the connecting rod 35 in sliding connection with the inclined surface two 34 moves toward the motor 10; The sliding connection of the inclined surface two 34 and the side wall of the connecting rod 35 reduces the complexity of the device, the pressure column 29 can quickly move the connecting rod 35 when moving downward, and the pressure column 29 can quickly move the connecting rod 35 in the reverse direction when moving upward, thereby improving the moving efficiency of the second heat dissipation fin 24.

[0038] Embodiment ten: Figures 1-9 The motor 10 is connected with the end of the gas storage pipe 36, the gas storage pipe 36 is arranged in the protective shell 22, the gas storage pipe 36 is in sliding sealing connection with the piston 37, the end face of the piston 37 away from the motor 10 is stored with helium between the inner wall of the gas storage pipe 36, the other end face of the piston 37 is connected with the end of the push rod 38, the push rod 38 is in sliding sealing connection with the gas storage pipe 36, and the other end of the push rod 38 outside the gas storage pipe 36 is in contact with the side wall of the connecting rod 35.

[0039] The principle and beneficial effects of the above scheme are: When the motor 10 starts to work, the side wall of the connecting rod 35 ends the contact with the other end of the push rod 38, at this time, the helium gas stored in the gas storage pipe 36 receives heat from the motor 10, and the helium gas expands easily after being heated. Therefore, the piston 37 moves away from the motor 10, and the push rod 38 moves synchronously; when the device ends the inspection, the motor 10 stops working, at this time, the connecting rod 35 is affected by the upwardly moving pressure column 29 and moves quickly towards the motor 10. Since the motor 10 still has residual heat at this time, the volume of the helium gas in the gas storage pipe 36 still expands to a certain extent relative to the initial state. After the side wall of the connecting rod 35 contacts the other end of the push rod 38, it can be buffered under the action of the helium gas, thereby avoiding the phenomenon that the parts in the mechanism collide, avoiding the collision between the pressure column 29 and the gas outlet pipe 28, and avoiding the collision between the heat dissipation fin two 24 and the protective shell 22. At the same time, the helium gas still in the expansion state applies a pushing force to the side wall of the connecting rod 35 through the other end of the push rod 38, preventing it from being quickly stored in the protective shell 22. Compared with the traditional motor heat dissipation fin with fixed shape, the heat dissipation fin two 24 and the heat dissipation fin 23 of the present application can form a larger heat dissipation surface after the motor 10 stops working, continuously dissipating heat from the motor 10 until the residual heat of the components is completely dissipated, preventing the residual heat in the motor parts from causing damage to itself. In addition, after the device stops working, the operator can intuitively judge whether any motor 10 has the phenomenon of excessive heat generation during work and poor heat dissipation according to the size of the area of the heat dissipation fin two 24 placed outside the protective shell 22 and the length of the storage time, thereby quickly troubleshooting the fault to ensure that the device does not stop working or burn out during work. Not only can it ensure the normal use of the inspection equipment, but also can avoid the phenomenon of natural or unsmooth movement of the device during use. When the heat in the motor 10 is completely dissipated, the volume of the helium gas returns to the initial state, the piston 37 drives the push rod 38 to move towards the motor 10, under the smooth movement of the other end of the push rod 38, the connecting rod 35 drives the heat dissipation fin two 24 to move and reset smoothly, thereby driving the connecting rod two 33 and the pressure column 29 to reset through the inclined surface two 34 connected with the connecting rod 35. Further, prevent the spring 31 from causing the parts in the device to collide during resetting, and prevent the spring 31 from deforming too quickly during resetting to avoid structural damage to the spring 31.

[0040] While embodiments of the application have been disclosed in connection with the above specification and drawings this description is not intended to limit the scope of the application and many modifications, enhancements, alternatives, and variations will become apparent to those skilled in the art from this disclosure. Accordingly, it is intended that the application not be limited to the described embodiments, but that it include all variations falling within the scope of the claims, and their equivalents.

Claims

1. A cable robot that can cross obstacles, characterized in that, Include: The shell (1), the shell (1) top surface is connected with two transverse slide rail (2), the middle part of transverse slide rail (2) is connected with base (3), the both sides of base (3) are respectively provided with one base two (4), base two (4) and transverse slide rail (2) slidingly connected, the top of base (3) and base two (4) are respectively connected with one sleeve (5), the inside of sleeve (5) is rotatably connected with cannula (6), the top wall of cannula (6) and the bottom wall of sleeve (5) are connected through torsional spring (7), the top of cannula (6) is connected with guide pulley (9) through driving element (8), guide pulley (9) and cable friction fit.

2. The cable robot over obstacles according to claim 1, characterized in that, The driving element (8) includes: motor (10), the top of cannula (6) is connected with motor (10), the output end of motor (10) is connected with gear two (12) through gear (11), gear two (12) and guide pulley (9) are concentrically rotatably connected on motor (10).

3. The cable robot over obstacles according to claim 1, characterized in that, The middle part of two transverse slide rail (2) is respectively connected with the threaded part of one double screw (13), the top surface of transverse slide rail (2) is slidingly connected with shell (1), the bevel gear (14) on double screw (13) is meshed with bevel gear two (15), bevel gear two (15) is connected with the output end of motor two (16), motor two (16) is connected with the top of shell (1).

4. The cable robot over obstacles according to claim 1, characterized in that, The both sides of two base two (4) are slidingly connected through optical axis (17).

5. The cable robot over obstacles according to claim 4, characterized in that, Two optical axis (17) are respectively connected with the threaded part of one double screw two (18), the end of double screw two (18) is connected with the output end of motor three (19), motor three (19) is connected with shell (1).

6. The cable robot over obstacles according to claim 2, characterized in that, The input end of wind pump (20) is coaxially connected with gear two (12), the air outlet pipe (21) of wind pump (20) is arranged towards the meshing part of gear (11) and gear two (12).

7. The cable robot over obstacles according to claim 6, characterized in that, The side wall of motor (10) is connected with protective shell (22), a plurality of end portions of the parallelly connected heat radiating fins (23) on the side wall of motor (10) are slidingly connected with one heat radiating fin two (24), the other end of heat radiating fin two (24) penetrates out of the side wall of protective shell (22), a plurality of heat radiating fin two (24) are connected through connecting rod (35).

8. The cable robot over obstacles according to claim 7, characterized in that, A plurality of fan blades (25) are connected on the output shaft of motor (10), the fan blades (25) are arranged in the inside of cooling pump shell (26), the end portions of air inlet pipe (27) and air outlet pipe (28) are connected on cooling pump shell (26), the output end of air outlet pipe (28) is arranged towards heat radiating fin two (24), pressure column (29) is slidingly and sealingly connected on the inner wall of air outlet pipe (28), the top of pressure column (29) arranged in the inside of air outlet pipe (28) is provided with inclined surface (30), the inclined surface (30) is arranged towards fan blade (25), the bottom end of pressure column (29) arranged outside air outlet pipe (28) is connected with the top surface of protective shell (22) through spring (31), pressure column (29) is connected with connecting rod (35) through guide element (32).

9. The cable robot over obstacles according to claim 8, characterized in that, The guide (32) comprises: a connecting rod two (33) and an inclined surface two (34), the protective shell (22) is in sliding seal connection with the connecting rod two (33), the top of the connecting rod two (33) is connected with the pressure column (29), the bottom of the connecting rod two (33) placed in the protective shell (22) is provided with the inclined surface two (34), the inclined surface two (34) is away from the motor (10) and is provided, and the inclined surface two (34) is in sliding connection with the connecting rod (35).

10. The cable robot over obstacles according to claim 9, characterized in that, The motor (10) is connected with the end of the gas storage pipe (36), the gas storage pipe (36) is placed in the protective shell (22), the piston (37) is in sliding seal in the gas storage pipe (36), helium is stored between the end face of the piston (37) towards the motor (10) and the inner wall of the gas storage pipe (36), the other end face of the piston (37) is connected with the end of the push rod (38), the push rod (38) is in sliding seal cooperation with the gas storage pipe (36), and the other end of the push rod (38) placed outside the gas storage pipe (36) is in contact with the side wall of the connecting rod (35).

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