Cable active separation mechanism of magnetic wall-climbing robot

Abstract

According to the cable active separation mechanism of the magnetic wall-climbing robot, in the robot, a driving unit comprises a motor and a lead screw connected with the motor; the transmission mechanism comprises a nut sliding block arranged on the lead screw in a sleeving mode and a connecting rod hinged to the nut sliding block, and the connecting rod is connected with the clamping jaws on the two sides. The center of the interface unit is provided with a power supply interface. The periphery of the interface unit is provided with a sinking groove for accommodating the pop-up spring. The cable assembly comprises a cable body, a Type-C connector and a conical guide shell wrapping the root of the Type-C connector, the outer contour of the conical guide shell is in conical transition, and an annular locking groove is formed in the bottom face of the conical guide shell. When a cable assembly is inserted, the conical guide shell compresses and pops up the spring, and the motor drives the lead screw to rotate, so that the nut sliding block drives the connecting rod to fold and clamp the clamping jaw, and the clamping jaw is clamped into the annular locking groove to form mechanical locking; and during separation, the motor rotates reversely, the clamping claw is opened, the popping spring releases elastic potential energy, and the cable assembly is popped out.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, and particularly relates to a cable active disengaging mechanism of a magnetic wall-climbing robot. BACKGROUND

[0002] In industrial scenes such as wind power, petrochemical industry, and nuclear power, it is often necessary to detect and maintain equipment with complex internal structure and narrow space. Magnetic wall-climbing robots are widely used in such scenes because they can stably walk on vertical or inverted ferromagnetic walls. In order to ensure visual acquisition and stable power supply of the robot, a wired connection mode is usually used. Among them, the Type-C interface becomes the preferred choice because of its high bandwidth, positive and negative insertion, support for PD fast charging and other characteristics.

[0003] However, when working in a narrow space, the cable is prone to entanglement, hooking or even being stuck due to turning, climbing or structural obstruction of the robot, which causes the robot to be unable to continue to move or to be forcibly pulled, resulting in damage to the equipment. In the prior art, a wireless transmission scheme is often used to avoid the problem of the cable, but the wireless scheme has defects such as high transmission delay, limited bandwidth, and susceptibility to electromagnetic interference, and it is difficult to meet the demand for high-definition real-time video return. Some other schemes use a magnetic quick-release interface, but the holding force is insufficient and the reliability is poor.

[0004] The information disclosed in the background section is only used to enhance the understanding of the background of the present application, and therefore can contain information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] In view of the deficiencies or shortcomings of the prior art, there is an urgent need for a mechanism that can not only ensure high-reliability transmission of wired connection, but also actively, quickly and controllably disengage the cable in an emergency. The cable active disengaging mechanism of the magnetic wall-climbing robot uses a mechanical locking structure of a motor lead screw to achieve firm connection of the cable, and combines a conical guide design to prevent movement from being stuck, so that the cable can be actively ejected in an emergency to ensure the safety of the robot body.

[0006] The purpose of the present application is achieved by the following technical solutions.

[0007] A cable active disengaging mechanism of a magnetic wall-climbing robot includes a locking and disengaging device mounted on the body of the magnetic wall-climbing robot and a cable assembly.

[0008] The locking and disengaging device includes,

[0009] The driving unit includes a motor and a lead screw connected to the motor.

[0010] A transmission mechanism comprising a nut block sleeved on the lead screw and a connecting rod articulated with the nut block, the connecting rod connecting two clamping jaws on both sides;

[0011] An interface unit with a power supply interface in the center and a sink groove around the interface unit accommodating the ejection spring;

[0012] The cable assembly comprises a cable body, a Type-C connector, and a conical guide shell wrapped around the root of the Type-C connector, the outer contour of the conical guide shell is conical, and the bottom surface is provided with an annular locking groove.

[0013] When the cable assembly is inserted, the conical guide shell compresses the ejection spring, the motor drives the lead screw to rotate, the nut block drives the connecting rod to close the clamping jaws, and the clamping jaws are clamped into the annular locking groove to form mechanical locking; when disengaged, the motor reverses, the clamping jaws open, and the ejection spring releases the elastic potential energy to eject the cable assembly.

[0014] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the conical guide shell is made of engineering plastic or metal material, and the taper angle is 30°-60°, which is used to guide the cable to slide over steps, welds or protrusions.

[0015] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the clamping jaw is made of stainless steel material, and the front end is provided with a flange structure matched with the annular locking groove, which can withstand an axial tensile force of not less than 50N without disengaging in the locked state.

[0016] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the lead screw is a trapezoidal screw or a ball screw with self-locking characteristics, which ensures that the clamping jaw remains in the locked state under the vibration or impact conditions of the robot, the output shaft of the motor is connected with the lead screw, the lead screw drives the connecting rod to move axially through thread cooperation, and then drives the clamping jaw to open and close.

[0017] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the ejection spring is a compression spring with a pre-compression amount of 5-15mm, and the ejection stroke is sufficient to completely disengage the Type-C connector from the power supply interface.

[0018] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the locking and disengaging device is provided with a detection unit for detecting whether the cable assembly is completely inserted, the detection unit comprises a micro switch, a Hall sensor, or a current / voltage sensor for judging the insertion state through the change of current / voltage signal of the Type-C interface.

[0019] The cable body is wrapped with a braided sheath, and the inside includes a power line, a high-speed data line and a shielding layer, supports data transmission at a speed of USB 3.1 Gen2 and above and PD fast charging protocol.

[0020] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the opening and closing movement of the clamping jaw is synchronously driven by the same motor through a screw-nut-block-link mechanism, ensuring consistent action of the two clamping jaws.

[0021] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the transmission link set includes a threaded sleeve block and at least two groups of links; the threaded sleeve block is sleeved on the screw rod, one end of the link is hinged to the threaded sleeve block, and the other end is hinged to the clamping jaw; the front and back movement of the threaded sleeve block is driven by the rotation of the screw rod, and the rotary motion is converted into the radial opening and closing motion of the clamping jaw.

[0022] In the cable active disengagement mechanism of the magnetic wall-climbing robot, the magnetic wall-climbing robot body is equipped with an environment perception module and an on-board backup power supply; the environment perception module includes a high-definition camera and a distance sensor, the high-definition camera is a variable-focus high-definition camera, supports 1080P@30fps video acquisition, and transmits image data to the ground control terminal in real time through the USB 3.1 protocol of the interface; the on-board backup power supply is connected with the robot control system, and is used to provide power required for the robot to recover or perform emergency actions after the cable is actively disengaged.

[0023] Compared with the prior art, the present application has the following beneficial effects: the present application has high connection reliability: the motor screw mechanism cooperates with the jaw locking, has self-locking characteristics, strong anti-vibration ability, and prevents accidental disconnection during operation. Anti-hooking design: the tapered expansion design of the cable head significantly reduces the risk of jamming when dragging the cable in narrow and complex environments. Active escape: has the ability to actively cut off the physical connection, cooperates with the on-board backup power supply, ensures the integrity of the robot body under extreme working conditions such as cable jamming, and avoids the loss of expensive equipment.

[0024] The above description is only a summary of the technical solutions of the present application, in order to make the technical means of the present application more clear and understandable, to the extent that the contents of the specification can be implemented by those skilled in the art, and in order to make the said and other purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0025] Various other advantages and benefits of the present application will become apparent to those of ordinary skill in the art, upon reading the following detailed description of the preferred embodiment. The accompanying drawings are included to provide a better understanding of the preferred embodiment and are incorporated in and constitute a part of this specification, illustrating embodiments that, together with the description, serve to explain the principles of the application. It should be noted that the detailed description of the drawings herein is included solely for purposes of illustrating the preferred embodiment of the present application, and should not be considered as a limitation of the present application. It should be readily understood that the drawings described herein are merely some embodiments of this application, and that other drawings can be derived from these drawings without departing from the spirit of the present application, and that the skilled artisan will be able to derive additional drawings from the drawings described herein without the exercise of inventive faculty. Furthermore, like reference numerals are intended to denote like parts throughout the various drawings.

[0026] In the drawings:

[0027] Figure 1 Figure 1 is a schematic diagram of the overall structure of the magnetic wall-climbing robot of the present application;

[0028] Figure 2 Figure 2 is a schematic diagram of the structure and component labeling of the locking and disengaging device of the present application;

[0029] Figure 3 Figure 3 is a schematic diagram of the structure and component labeling of the cable assembly of the present application;

[0030] Figure 4 Figure 4 is a schematic diagram of the cable assembly ready to be inserted into the locking and disengaging device;

[0031] Figure 5 Figure 5 is a schematic diagram of the cable assembly inserted and compressed spring, but not yet locked;

[0032] Figure 6 Figure 6 is a schematic diagram of the clamping jaw closed, the mechanism in the locked working state.

[0033] The present application will be further explained with reference to the drawings and embodiments. DETAILED DESCRIPTION

[0034] Embodiments of the present application will be described more fully hereinafter with reference to the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0035] It should be noted that some terms are used in the description and claims to refer to particular components. One skilled in the art will understand that the same component can be referred to by different terms. The description and claims do not intend to distinguish between components that differ in name but not in function. "Including" or "comprising" as used in the specification and in the claims is an open term that is intended to mean "including but not limited to". The description that follows is intended to describe preferred embodiments of the present application and is not intended to limit the scope of the application. The scope of the present application is defined by the appended claims.

[0036] To facilitate the understanding of the embodiments of the present application, the following will be further explained and described with several specific examples in conjunction with the accompanying drawings, and each drawing does not constitute a limitation on the embodiments of the present application.

[0037] For better understanding, as shown in Figures 1 to 6 A cable active disengagement mechanism of a magnetic wall-climbing robot includes,

[0038] It includes a locking and disengaging device 2 mounted on the body of the magnetic wall-climbing robot 1 and a cable assembly 3, wherein,

[0039] The locking and disengaging device 2 includes,

[0040] A drive unit including a motor 2.1 and a lead screw 2.2 connected thereto;

[0041] A transmission mechanism including a nut block sleeved on the lead screw 2.2 and a connecting rod hinged to the nut block, the connecting rod connecting two clamping jaws 2.4 on both sides;

[0042] An interface unit with a power supply interface 2.3 in the center, and a sink groove accommodating the ejection spring 2.5 around the interface unit;

[0043] The cable assembly 3 includes a cable body 3.1, a Type-C connector 3.4, and a conical guide housing 3.2 wrapped around the root of the Type-C connector, the outer contour of the conical guide housing 3.2 is conical, and the bottom surface is provided with an annular locking groove 3.3;

[0044] When the cable assembly 3 is inserted, the conical guide housing 3.2 compresses the ejection spring 2.5, the motor 2.1 drives the lead screw 2.2 to rotate, the nut block drives the connecting rod to close the clamping jaws 2.4, and the annular locking groove 3.3 is clamped to form mechanical locking; when disengaged, the motor 2.1 is reversed, the clamping jaws 2.4 are opened, and the ejection spring 2.5 releases the elastic potential energy to eject the cable assembly 3.

[0045] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the conical guide housing 3.2 is made of engineering plastic or metal material, with a taper angle of 30°-60°, for guiding the cable to slide over steps, welds or protrusions.

[0046] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the clamping jaw 2.4 is made of stainless steel material, with a flange structure at the front end matching the annular locking groove 3.3, capable of bearing an axial tensile force of not less than 50 N without disengaging in the locked state.

[0047] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the lead screw 2.2 is a trapezoidal lead screw or ball screw with self-locking characteristics, ensuring that the clamping jaw 2.4 remains in the locked state under robot vibration or impact conditions. The output shaft of the motor 2.1 is connected to the lead screw 2.2, which drives the connecting rod to move axially through thread cooperation, thereby driving the clamping jaw 2.4 to open and close.

[0048] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the ejection spring 2.5 is a compression spring with a pre-compression amount of 5-15 mm, and the ejection stroke is sufficient to completely disengage the Type-C connector 3.4 from the power supply interface.

[0049] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the locking and disengaging device 2 is provided with a position detection unit for detecting whether the cable assembly 3 is fully inserted. The position detection unit includes a microswitch, a Hall sensor, or a current / voltage sensor that detects the insertion state through changes in the current / voltage signal of the Type-C interface.

[0050] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the cable body 3.1 is wrapped with a braided sheath, containing power lines, high-speed data lines and shielding layers, supporting data transmission at USB 3.1 Gen2 and above speeds and PD fast charging protocols.

[0051] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the opening and closing movement of the clamping jaw 2.4 is driven synchronously by the same motor 2.1 through a lead screw-sliding block-linkage mechanism, ensuring consistent action of the two clamping jaws.

[0052] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the transmission linkage includes a threaded sleeve slider and at least two sets of linkages; the threaded sleeve slider is sleeved on the lead screw 2.2, one end of the linkage is hinged to the threaded sleeve slider, and the other end is hinged to the clamping jaw 2.4; the forward and backward movement of the threaded sleeve slider is driven by the rotation of the lead screw 2.2, and the rotary motion is converted into the radial opening and closing motion of the clamping jaw 2.4.

[0053] In the preferred embodiment of the cable active disengagement mechanism of the magnetic wall-climbing robot, the magnetic wall-climbing robot body 1 is equipped with an environment perception module 1.1 and an on-board backup power supply 1.2; the environment perception module 1.1 includes a high-definition camera and a distance sensor, the high-definition camera is a variable-focus high-definition camera, supports 1080P@30fps video capture, and transmits image data in real time to the ground control terminal through the USB 3.1 protocol interface; the on-board backup power supply 1.2 is connected with the robot control system, and is used to provide power required for the robot to return or take emergency action after the cable is actively disengaged.

[0054] In one embodiment, the conical guide shell 3.2 is made of insulating hard material, and its shape is a circular truncated cone, with the small end connected to the cable body 3.1 and the large end facing the interface direction, for preventing the cable connector from being stuck in steps or gaps when dragging in narrow spaces. The front end of the conical guide shell 3.2 is a cylindrical segment matching the shape of the plug body, and the rear end is an outwardly expanding conical segment. The ejection spring 2.5 is arranged in the counterbore or groove around the power supply interface 2.3, and when the Type-C connector 3.4 is inserted into place, the front end face of the conical guide shell 3.2 presses the ejection spring 2.5 to make it in the energy storage state. When the cable is inserted, the Type-C connector is connected, and the conical guide shell compresses the ejection spring; the motor drives the lead screw to rotate, and the linkage mechanism makes the clamping jaw retract inward to be clamped into the annular locking groove of the cable assembly, forming a mechanical self-locking to resist external tension. When the control system determines that the cable needs to be abandoned, the motor is reversed, the jaw is opened, and the ejection spring releases the elastic potential energy to instantly eject the cable assembly, achieving separation.

[0055] In one embodiment, please refer to Figure 1 , the cable active disengagement mechanism based on the magnetic wall-climbing robot in narrow spaces is mainly carried on the magnetic wall-climbing robot body 1. The robot uses a magnetic wheel to walk on a magnetically conductive wall surface. The front end or top of the magnetic wall-climbing robot body 1 is provided with an environment perception module 1.1, preferably a high-definition camera with a fill light, for returning visual images in narrow spaces. The robot is internally integrated with an on-board backup power supply 1.2 such as a high-rate lithium battery pack, which is in a charging or standby state when connected normally, and provides power for the robot to return or safely dock after disengaging the cable.

[0056] Please refer to Figure 2 and Figure 5 , the core of the mechanism is the locking and disengaging device 2. The device is fixed on the robot body as a port for power supply and signal transmission. Its power source is motor 2.1, and the motor output shaft is connected to a lead screw 2.2. A threaded slide block with a square block structure in the middle of the lead screw is matched on the lead screw. The slide block is hinged to the clamping jaws 2.4 on both sides through a connecting rod. When the motor 2.1 rotates forward or reversely, it drives the lead screw 2.2 to rotate, so that the threaded slide block moves forward and backward. The movement of the slide block is converted into the opening and closing movement of the clamping jaws 2.4 through the connecting rod mechanism. Compared with simple rudder drive, screw drive provides greater locking force and self-locking performance to prevent the jaws from loosening when the robot vibrates violently. A power supply interface 2.3 Type-C female socket is provided at the center of the device, and a recess is provided around it, in which a pop-up spring 2.5 is fixed.

[0057] Please refer to Figure 3 , the matching cable assembly 3 includes a high-strength cable body that is wear-resistant and anti-pulling. The end of the cable is provided with a Type-C connector 3.4 for transmitting power and high-speed video stream. At the connection between the connector and the cable, a conical guide housing 3.2, i.e. a conical expansion, is covered. The housing smoothly transitions from the cable diameter to the connector diameter. When the robot retreats or pulls the cable, the conical surface can "slide" the cable away from the edge of the obstacle, avoiding being stuck by the straight edge of the plug. A deep groove, i.e. a ring-shaped locking groove 3.3, is machined on the bottom surface of the conical guide housing 3.2.

[0058] The working process is as follows:

[0059] Insertion stage reference Figure 4 , Figure 5 : The operator inserts the cable assembly 3 into the interface of the robot. The Type-C connector 3.4 is inserted into the power supply interface 2.3. At this time, the front end face of the conical guide housing 3.2 compresses the pop-up spring 2.5, so that the spring is in a compressed energy storage state as shown in Figure 5 . At this time, the motor 2.1 has not yet been actuated, and the clamping jaws 2.4 are in an open state.

[0060] Locking working stage reference Figure 6: When the plug is detected to be inserted into place, the control system drives the motor 2.1 to rotate through a micro switch or current detection. The motor drives the lead screw 2.2 to rotate, pulling the threaded slider to move backward toward the motor direction. Through the traction of the linkage mechanism, the clamping jaws 2.4 on both sides are closed to the center. The front end of the clamping jaw is clamped into the annular locking groove 3.3 of the cable assembly. At this time, the mechanism is in a mechanically locked state. Even if the cable is subjected to external pulling force, the pulling force will be borne by the clamping jaw and the shell, and will not directly act on the Type-C interface, protecting the stability of the electrical connection. The robot starts normal wall climbing work and transmits high-definition images through the cable.

[0061] Active disengagement phase: When the robot encounters an accident in a narrow space, such as the cable being stuck in a dead corner causing the robot to be unable to move, and multiple attempts to disengage are ineffective, the ground operator or on-board AI issues a "decoupling" instruction. The motor 2.1 reverses rotation, driving the lead screw 2.2 to push the slider to move forward. The linkage mechanism opens the clamping jaws 2.4 on both sides, making them disengage from the annular locking groove 3.3. Once the constraint of the clamping jaw is released, the ejection spring 2.5, which has been in a compressed state, releases the elastic potential energy instantaneously, ejecting the cable assembly 3 outward to achieve physical separation. Subsequently, the robot automatically switches to the on-board backup power supply 1.2 for power supply, and uses the remaining power to execute a self-rescue program such as returning to the original path or finding an open area.

[0062] Further, the traditional quick plug interface (such as magnetic or buckle type) is easy to be loosened due to vibration when the robot is crawling, turning or encountering impact, resulting in signal interruption or power disconnection. The application uses a motor-driven lead screw to convert rotary motion into linear displacement of the nut block, and then synchronously retracts the two clamping jaws on both sides through a linkage mechanism, so that they are firmly embedded in the annular locking groove on the conical shell of the cable assembly. This structure not only provides an axial holding force of up to 50N or more, but also has self-locking characteristics - even if the power is off, the clamping jaw will not accidentally open due to external force, thereby ensuring the stability of the Type-C electrical interface in complex dynamic conditions, avoiding interruptions in high-definition video transmission or power abnormalities caused by loose interface. The integrated design of the conical guide shell and the annular locking groove takes into account both anti-hooking and reliable locking functions. In the wind blade cavity or storage tank, structures such as welds, reinforcing ribs, flange steps are extremely easy to hook the root of the traditional straight cylindrical plug. The application innovatively integrates a conical guide shell at the end of the cable, which can "guide" the cable to slide over the obstacle edge when the robot retreats or drags the cable, effectively avoiding the jam caused by the right-angle mutation. At the same time, the bottom surface of the shell is precisely machined with an annular locking groove, which serves as the force anchor point for mechanical locking, without damaging the overall streamline appearance, and provides a clear limiting structure for the clamping jaw, realizing the synergistic optimization of "appearance anti-hooking + internal locking". The pre-compressed ejection spring and the active unlocking mechanism constitute a quick and controllable emergency disengagement capability. When the cable is stuck in a dead corner and cannot be released through path planning, existing wired robots are often forced to give up or forcibly pulled, causing equipment damage. The application sets pre-compressed ejection springs around the interface, which continuously store energy in the normal locking state; once the control system receives the cable release instruction (triggered by the operator or autonomously judged by the on-board AI), the motor immediately reverses, driving the clamping jaw to open and release the constraint, and the spring instantly releases the elastic potential energy, ejecting the entire cable assembly along the axial direction to complete the millisecond physical separation. This process does not require external intervention, and the response is fast and reliable, completely cutting off the restraint of the fault source on the robot body. In combination with the on-board backup power supply and sensing modules, a complete "escape - self-rescue" closed loop is formed. Cable disengagement is not the end, but the starting point of the safety strategy. The application embeds a high-rate lithium battery in the robot body as an on-board backup power supply, and is equipped with a camera and other environmental sensing modules. Once the cable is released, the system automatically switches to backup power supply and starts the preset self-rescue program - such as returning to the original route based on visual SLAM, finding an open area to dock, or sending the last positioning information. This "active disconnection + autonomous life extension" design greatly improves the survival ability of the robot in extreme conditions, avoiding the damage of the entire machine or the complete failure of the task due to a cable.

[0063] The above describes the basic principles of the present application in conjunction with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present application. In addition, the above specific details disclosed are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the present application to be necessarily implemented with the above specific details.

[0064] The foregoing description has been presented for the purposes of illustration and description. Furthermore, the description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations of the described aspects and embodiments.

Claims

1. A cable-active detachment mechanism for a magnetic wall-climbing robot, characterized in that, It includes a locking and unlocking device (2) and a cable assembly (3) installed on the main body (1) of the magnetic wall-climbing robot. The locking and unlocking device (2) includes, The drive unit includes a motor (2.1) and a lead screw (2.2) connected thereto. The transmission mechanism includes a nut slider sleeved on the lead screw (2.2) and a connecting rod hinged to the nut slider, the connecting rod connecting to clamping claws (2.4) on both sides. The interface unit has a power supply interface (2.3) at its center and a groove around the interface unit to accommodate the pop-out spring (2.5). The cable assembly (3) includes a cable body (3.1), a Type-C connector (3.4), and a conical guide housing (3.2) covering the root of the Type-C connector. The outer contour of the conical guide housing (3.2) is conical, and its bottom surface is provided with an annular locking groove (3.3). When the cable assembly (3) is inserted, the conical guide housing (3.2) compresses the pop-out spring (2.5), and the motor (2.1) drives the lead screw (2.2) to rotate, causing the nut slider to drive the connecting rod to close the clamping claw (2.4) and lock it into the annular locking groove (3.3) to form a mechanical lock; when it is disengaged, the motor (2.1) reverses, the clamping claw (2.4) opens, the pop-out spring (2.5) releases elastic potential energy, and pops out the cable assembly (3).

2. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, Preferably, the conical guide housing (3.2) is made of engineering plastic or metal material, with a cone angle of 30°–60°, and is used to guide the cable to slide over steps, welds or protrusions.

3. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The clamping claw (2.4) is made of stainless steel and has a flange structure at its front end that matches the annular locking groove (3.3). In the locked state, it can withstand an axial tensile force of not less than 50N without coming out.

4. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The lead screw (2.2) is a trapezoidal lead screw or ball screw with self-locking characteristics to ensure that the clamping jaw (2.4) remains locked under robot vibration or impact conditions. The output shaft of the motor (2.1) is connected to the lead screw (2.2). The lead screw (2.2) drives the connecting rod to move axially through threaded engagement, thereby driving the clamping jaw (2.4) to perform opening and closing actions.

5. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The pop-out spring (2.5) is a compression spring with a pre-compression of 5–15 mm and a pop-out stroke sufficient to completely disconnect the Type-C connector (3.4) from the power supply interface.

6. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The locking and unlocking device (2) is equipped with a positioning detection unit for detecting whether the cable assembly (3) is fully inserted. The positioning detection unit includes a micro switch, a Hall sensor, or a current / voltage sensor that determines the insertion status through changes in the current / voltage signal of the Type-C interface.

7. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The cable body (3.1) is wrapped in a braided sheath and contains a power cord, a high-speed data cable and a shielding layer. It supports data transmission at USB 3.1 Gen2 and above and PD fast charging protocol.

8. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The opening and closing motion of the clamping jaws (2.4) is synchronously driven by the same motor (2.1) through a lead screw-slider-linkage mechanism to ensure that the jaws on both sides move in unison.

9. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The transmission linkage assembly includes a threaded sleeve slider and at least two sets of connecting rods; the threaded sleeve slider is sleeved on the lead screw (2.2), one end of the connecting rod is hinged to the threaded sleeve slider, and the other end is hinged to the clamping jaw (2.4); the rotation of the lead screw (2.2) drives the threaded sleeve slider to move back and forth, converting the rotational motion into the radial opening and closing motion of the clamping jaw (2.4).

10. The active cable release mechanism for the magnetic wall-climbing robot as described in claim 1, characterized in that, The magnetic wall-climbing robot body (1) is equipped with an environmental perception module (1.1) and an onboard backup power supply (1.2). The environmental perception module (1.1) includes a high-definition camera and a distance sensor. The high-definition camera is a variable-focus high-definition camera that supports 1080P@30fps video acquisition and transmits image data back to the ground control terminal in real time through the USB 3.1 protocol of the interface. The onboard backup power supply (1.2) is connected to the robot control system and is used to provide the robot with the power required for recovery or emergency actions after the cable is actively detached.

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