Steel wire rope track steering inspection robot

Abstract

The application discloses a steel wire rope track steering inspection robot, and relates to the technical field of inspection equipment, which comprises a robot main body rack, steel wire rope clamping fixing mechanisms are respectively arranged at the two ends of the robot main body rack, and main track steel wire ropes are clamped and matched with the steel wire rope clamping fixing mechanisms; traction ropes are fixedly connected to the middle part of the robot main body rack, the device is provided with second suspension steel wires as lifting transmission carriers, and two first suspension steel wires are symmetrically distributed on the two sides to play a limiting and balancing role. The lower ends of the two first suspension steel wires and one second suspension steel wire are jointly connected with a counterweight, when the device is used for aerial inspection, external wind force is easy to cause the shaking of components, the counterweight generates a downward pulling force by relying on its own gravity, the disturbance force caused by the wind force can be effectively offset, the swinging of a camera and matched components is inhibited, the observation visual angle of the inspection camera is kept stable, the shooting picture is ensured to be clear, and the normal development of the inspection work is ensured.

Description

Technical Field

[0001] This invention relates to the field of inspection equipment technology, specifically a wire rope track steering inspection robot. Background Technology

[0002] Wire rope track inspection robots are widely used in daily inspections of high-altitude cables, overhead corridors, and large structures. They rely on wire rope tracks to achieve long-distance movement and are equipped with cameras to collect images and monitor the status of the equipment. Currently, most mainstream wire rope track inspection robots on the market use fixed assembly structures for their inspection cameras. The camera is directly and rigidly connected to the robot's main frame, without any lifting or adjusting mechanisms between the two.

[0003] In actual inspection operations, different monitoring points have varying heights, with some potential hazards and defects located at excessively high or low positions. Traditional equipment, however, maintains a constant camera installation height, making it impossible to adjust the shooting position and distance for monitoring areas at different heights. Faced with inspection environments of varying elevations, fixed cameras struggle to accurately focus on target areas. High points exhibit blind spots, while low points are prone to image obstruction and poor image quality, hindering comprehensive and meticulous inspection and troubleshooting.

[0004] Meanwhile, the existing equipment lacks a dedicated steel wire suspension lifting assembly, lifting drive motor, and matching transmission structure, thus lacking the ability to move the camera components up and down. When the inspection route contains multi-layered structures and monitoring surfaces of varying heights, the equipment can only operate at a single height, resulting in a limited operating mode and insufficient adaptability to complex working conditions. This significantly restricts the scope of application of the inspection equipment and reduces the overall efficiency and monitoring accuracy of the inspection work. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a wire rope track steering inspection robot, which solves the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a wire rope track steering inspection robot, comprising a robot main frame, with wire rope clamping and fixing mechanisms mounted at both ends of the robot main frame, the wire rope clamping and fixing mechanisms clamping and cooperating with a main track wire rope; a traction rope is fixedly connected to the middle of the robot main frame, a winding and lifting mechanism is installed at the bottom of the robot main frame, and a camera attitude adjustment component is suspended below the winding and lifting mechanism.

[0007] Preferably, the wire rope clamping and fixing mechanism is equipped with a guide screw, which is fixedly connected to the robot's main frame. A sliding push block is slidably fitted on the outer side of the guide screw. An adjusting bolt is threaded onto the end of the guide screw, and the end of the adjusting bolt abuts against the sliding push block. A movable clamping wheel is mounted on the sliding push block, and a fixed clamping wheel is fixedly installed on the robot's main frame at the corresponding position of the movable clamping wheel. The movable clamping wheel and the fixed clamping wheel are arranged facing each other, and the two cooperate to clamp the main track wire rope. This structure achieves the clamping action through threaded feed, which is secure, easy to assemble and disassemble, and can ensure the stable positioning of the whole machine on the main track wire rope, making it less prone to slippage during operation.

[0008] Preferably, the winding and lifting mechanism is equipped with a winding drive motor, which is fixedly installed at the bottom of the robot's main frame. The output end of the winding drive motor is connected to the wire winding shaft for transmission. Two first suspension wires and one second suspension wire are wound on the wire winding shaft. The lower ends of both the first and second suspension wires are connected to a counterweight. The two first suspension wires are respectively positioned at both ends of the counterweight. This arrangement of multiple suspension wires with a counterweight provides balanced suspension to the lower components, effectively improving the overall stress uniformity and support stability of the suspension structure.

[0009] Preferably, each of the first suspension wires is fitted with a buffer spring, the upper end of which abuts against the winding and lifting mechanism, and the lower end of which contacts the counterweight. The buffer spring serves to cushion and reduce shock, mitigating the impact generated during the winding and unwinding of the wire, extending the service life of components, and further optimizing the suspension posture.

[0010] Preferably, the first suspension wire and the second suspension wire both pass through the guide sleeve, which is a basic component of the camera attitude adjustment assembly. The lower end of the guide sleeve is rotatably connected to the camera mounting base. The multiple wires form a limiting constraint on the guide sleeve, which can restrict the camera attitude adjustment assembly from shifting or deflecting, ensuring that the assembly maintains a regular posture during movement.

[0011] Preferably, a lifting drive motor is fixedly installed inside the guide sleeve. The output shaft of the lifting drive motor is connected to a lifting drive wheel, and the outer surface of the lifting drive wheel abuts against the outer wall of the second suspension steel wire. Relying on the frictional transmission between the drive wheel and the second suspension steel wire, the camera assembly can be flexibly raised and lowered, allowing for free adjustment of the working height according to inspection needs and adapting to different inspection conditions.

[0012] Preferably, the guide sleeve integrates a gear drive unit, which includes a drive gear driven by an independent power source inside the guide sleeve. A rotating gear ring is fixedly fitted onto the outer wall of the camera mounting base. The drive gear meshes with the rotating gear ring, allowing the drive gear to drive the camera mounting base to rotate circumferentially relative to the guide sleeve. This gear meshing transmission provides smooth and high-precision transmission, enabling the camera mounting base to rotate smoothly and allowing for multi-angle adjustment of the inspection viewing angle, eliminating blind spots in monitoring.

[0013] Preferably, the side wall of the camera mounting base has two symmetrically arranged installation positions, each of which is equipped with an inspection camera. The inspection camera rotates synchronously with the camera mounting base, and its lens faces outward. The symmetrical arrangement of the two cameras, combined with the rotation motion, expands the monitoring range, enabling comprehensive on-site image acquisition and improving the overall comprehensiveness of the inspection operation.

[0014] This invention provides a wire rope track steering and inspection robot. It has the following advantages: This device uses a second suspension steel wire as the lifting transmission carrier, while two first suspension steel wires are symmetrically distributed on both sides to provide limiting and balancing functions. During operation, the second suspension steel wire works with the lifting drive wheel to complete the power transmission, and the first suspension steel wires on both sides constrain the attitude of the camera attitude adjustment component from the left and right directions. The three work together to form a stable support structure, effectively preventing the component from tilting or shifting, and significantly improving the overall operational stability of the inspection component.

[0015] The lifting drive motor drives the lifting drive wheel, and the camera attitude adjustment component is raised and lowered as a whole by relying on the second suspension steel cable. The working height of the inspection camera can be flexibly adjusted according to the on-site working conditions to meet the inspection needs of different locations. At the same time, the two first suspension steel cables and the second suspension steel cable form a closed limiting structure, which provides circumferential constraint on the camera mounting base, preventing the component from rotating on its own in the air and ensuring that the camera's attitude remains upright during the lifting process.

[0016] The lower ends of the two first suspension steel wires and the second suspension steel wire are connected to the counterweight. When the equipment is inspected in the air, the external wind force can easily cause the components to sway. The counterweight generates a downward force by its own weight, which can effectively counteract the disturbance force brought by the wind, suppress the swaying phenomenon of the camera and supporting components, keep the observation angle of the inspection camera stable, ensure clear shooting, and ensure the normal operation of the inspection work. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the wire rope track steering and inspection robot of the present invention; Figure 2This is a schematic diagram of the assembly structure of the wire rope clamping and fixing mechanism and the lower suspension component of the present invention; Figure 3 for Figure 2 Enlarged structural diagram at point A; Figure 4 This is a schematic diagram of the lifting drive wheel of the present invention.

[0018] In the diagram, 1. Robot main frame; 2. Traction rope; 3. Wire rope clamping and fixing mechanism; 4. Main track wire rope; 5. Winding and lifting mechanism; 6. Camera posture adjustment assembly; 7. Inspection camera; 301. Fixed clamping wheel; 302. Movable clamping wheel; 303. Sliding push block; 304. Adjusting bolt; 305. Guide screw; 501. Winding drive motor; 502. Wire winding shaft; 503. First suspension wire; 504. Second suspension wire; 505. Counterweight; 601. Camera mounting base; 602. Lifting drive motor; 603. Lifting drive wheel; 605. Buffer spring; 606. Guide sleeve; 607. Rotating gear ring; 608. Drive gear. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1: Please see Figure 1-3This invention provides a technical solution: a wire rope track steering inspection robot, comprising a robot main frame 1, with wire rope clamping and fixing mechanisms 3 mounted at both ends of the robot main frame 1, the wire rope clamping and fixing mechanisms 3 clamping and cooperating with a main track wire rope 4; a traction rope 2 is fixedly connected to the middle of the robot main frame 1, a winding and lifting mechanism 5 is installed at the bottom of the robot main frame 1, and a camera attitude adjustment component 6 is suspended below the winding and lifting mechanism 5; the wire rope clamping and fixing mechanism 3 is provided with a guide screw 305, the guide screw 305 is fixed to the robot main frame 1, and a sliding push block 303 is slidably sleeved on the outside of the guide screw 305; an adjusting bolt 304 is threadedly fitted at the end of the guide screw 305 for adjustment. The end of bolt 304 abuts against sliding push block 303; a movable clamping wheel 302 is installed on sliding push block 303, and a fixed clamping wheel 301 is fixedly provided on the robot main frame 1 at the position corresponding to the movable clamping wheel 302. The movable clamping wheel 302 and the fixed clamping wheel 301 are arranged opposite to each other and jointly clamp the main track wire rope 4; the winding and lifting mechanism 5 is provided with a winding drive motor 501, which is fixed at the bottom of the robot main frame 1. The output end of the winding drive motor 501 is connected to a wire winding shaft 502; two first suspension wires 503 and one second suspension wire 504 are wound on the wire winding shaft 502. The lower ends of the first suspension wires 503 and the second suspension wires 504 are connected to a counterweight 5. 05. Two first suspension steel wires 503 are respectively arranged at both ends of the counterweight 505; each first suspension steel wire 503 is fitted with a buffer spring 605 on its outer side, the upper end of the buffer spring 605 abuts against the coiling and lifting mechanism 5, and the lower end of the buffer spring 605 abuts against the counterweight 505; the first suspension steel wire 503 and the second suspension steel wire 504 are connected to a guide sleeve 606, the guide sleeve 606 forms the base of the camera attitude adjustment component 6, and the lower end of the guide sleeve 606 is rotatably connected to the camera mounting base 601; a lifting drive motor 602 is fixedly installed inside the guide sleeve 606, the output shaft of the lifting drive motor 602 is connected to a lifting drive wheel 603, and the outer wall of the lifting drive wheel 603 is in contact with the second suspension... On the outer wall of the steel wire 504; inside the guide sleeve 606, there is an integrated gear drive unit, which includes a drive gear 608. The drive gear 608 is driven to rotate by an independent power source inside the guide sleeve 606; a rotating gear ring 607 is fixedly mounted on the outer edge of the camera mounting base 601. The drive gear 608 meshes with the rotating gear ring 607 throughout the entire process. The drive gear 608 can drive the camera mounting base 601 to rotate circumferentially relative to the guide sleeve 606 through the rotating gear ring 607; two sets of mounting positions are symmetrically opened on the side wall of the camera mounting base 601. Each set of mounting positions is fixedly mounted with an inspection camera 7; the inspection camera 7 rotates synchronously with the camera mounting base 601, and the lens of the inspection camera 7 is arranged facing outward. This implementation plan's wire rope track steering inspection robot relies on the cooperation of various mechanisms to complete the entire process of track fixing, overall movement, component lifting, perspective adjustment, and equipment recovery.

[0021] During the equipment deployment phase, the wire rope clamping and fixing mechanisms 3 at both ends of the robot's main frame 1 begin to operate. Rotating the adjusting bolt 304 causes it to feed along the guide screw 305, which in turn pushes the sliding push block 303 to slide outside the guide screw 305. The sliding push block 303 drives its movable clamping wheel 302 to move closer to the fixed clamping wheel 301. The clamping force between the movable and fixed clamping wheels 302 and 301 grips the main track wire rope 4, ensuring the entire machine is securely installed on the wire rope track. External traction equipment pulls the traction rope 2, which in turn moves the robot's main frame 1 smoothly along the main track wire rope 4, enabling the machine to travel and operate along the inspection route.

[0022] The coiling and lifting mechanism 5 at the bottom of the robot's main frame 1 is responsible for the overall retraction and deployment of the suspension components. When the coiling drive motor 501 is activated, it drives the wire coiling shaft 502 to rotate, gradually releasing the two first suspension wires 503 and one second suspension wire 504 wound on the shaft. The three wires descend synchronously until the counterweight 505 at the bottom reaches its lowest limit position. During this process, the buffer spring 605, fitted outside the first suspension wire 503, extends synchronously with the counterweight 505. The guide sleeves 606 through which the first and second suspension wires 503 and 504 pass, along with the entire camera attitude adjustment assembly 6, are temporarily suspended above the counterweight 505.

[0023] After the counterweight 505 is fully in place, the lifting drive motor 602 inside the guide sleeve 606 is activated. The lifting drive motor 602 drives the lifting drive wheel 603 to rotate. The lifting drive wheel 603 is in close contact with the outer wall of the second suspension steel wire 504 and rolls upward along the second suspension steel wire 504 by friction, thereby driving the guide sleeve 606, the camera mounting base 601, and the inspection camera 7 to rise as a whole. The two symmetrically arranged first suspension steel wires 503 form a lateral limiting constraint on the guide sleeve 606, which can effectively prevent the camera attitude adjustment component 6 from rotating circumferentially, ensuring the stability of the attitude during the lifting process. The staff can adjust the lifting height according to the inspection needs to adapt to different monitoring points.

[0024] When the inspection perspective needs to be changed, the independent power source inside the guide sleeve 606 drives the drive gear 608 to rotate. The drive gear 608 meshes with the rotating gear ring 607 on the outer edge of the camera mounting base 601, causing the camera mounting base 601 to rotate circumferentially relative to the guide sleeve 606. The inspection cameras 7 installed on both sides of the camera mounting base 601 rotate synchronously, realizing multi-angle inspection and shooting, and eliminating monitoring blind spots.

[0025] After the inspection is completed, the equipment recovery process begins. First, the lifting drive motor 602 is reversed, causing the lifting drive wheel 603 to move downwards along the second suspension wire 504, driving the camera attitude adjustment component 6 downwards until the bottom of the guide sleeve 606 is in close contact with the counterweight 505. Then, the winding drive motor 501 reverses, driving the wire winding shaft 502 to rotate, simultaneously winding up the first suspension wire 503 and the second suspension wire 504, lifting the counterweight 505 and the camera attitude adjustment component 6 upwards and resetting them. Finally, the adjusting bolt 304 is loosened in the reverse direction, releasing the clamping effect of the movable clamping wheel 302 and the fixed clamping wheel 301 on the main track wire rope 4, allowing the entire machine to detach from the track, completing one full inspection operation.

[0026] Working principle: This wire rope track steering inspection robot completes mobile inspection operations by relying on a wire rope track. The overall operation is divided into several stages: equipment fixing, moving inspection, height adjustment, viewing angle adjustment, and equipment retrieval. Each mechanism coordinates its actions in sequence. The specific workflow and principle are as follows: When the equipment is in place, the wire rope clamping and fixing mechanisms 3 at both ends of the robot's main frame 1 work synchronously. Rotating the adjusting bolt 304 causes it to feed along the guide screw 305, continuously pushing the sliding push block 303 to slide on the guide screw 305. The sliding push block 303 drives the movable clamping wheel 302 towards the fixed clamping wheel 301, using the two sets of wheels to clamp the main track wire rope 4, thus firmly placing the robot's main frame 1 on the track and ensuring the stability of the entire machine's operating foundation. After clamping and fixing are completed, the external traction device pulls the traction rope 2, which drives the robot's main frame 1 to move along the main track wire rope 4, enabling the equipment to travel along the inspection route.

[0027] The robot's main frame 1 is equipped with a winding and lifting mechanism 5 at its bottom. This mechanism includes a winding drive motor 501, a wire winding shaft 502, two first suspension wires 503, a second suspension wire 504, and a counterweight 505. When the equipment performs inspection operations, the winding drive motor 501 rotates in the forward direction, driving the wire winding shaft 502 to rotate synchronously, gradually releasing the first suspension wires 503 and 504. The three suspension wires are lowered synchronously until the counterweight 505 at the bottom reaches the lowest working position and remains stationary. At this time, the camera attitude adjustment component 6, which works in conjunction with the suspension wires, is suspended above the counterweight 505.

[0028] After the counterweight 505 is in place, the lifting drive motor 602 of the camera attitude adjustment component 6 is activated. The lifting drive motor 602 drives the lifting drive wheel 603 to rotate. The lifting drive wheel 603 abuts against the outer wall of the second suspension steel wire 504 and rolls upward along the second suspension steel wire 504 with the help of friction, thereby driving the entire guide sleeve 606 and the camera mounting base 601 to move upward synchronously. The two first suspension steel wires 503 are symmetrically distributed on both sides, forming a lateral limit on the guide sleeve 606, which can effectively limit the circumferential rotation of the component and ensure a stable posture during the lifting process. The operator can control the start and stop of the lifting drive motor 602 according to the on-site inspection needs, and precisely adjust the working height of the inspection camera 7 to monitor areas at different heights.

[0029] When the inspection angle needs to be adjusted, the drive gear 608 inside the guide sleeve 606 operates. The drive gear 608 meshes with the rotating gear ring 607 on the outside of the camera mounting base 601, driving the camera mounting base 601 to rotate circumferentially. The two inspection cameras 7 symmetrically arranged on the mounting base rotate synchronously, realizing multi-angle field of view switching and eliminating blind spots in the inspection.

[0030] When the inspection work is completed and the equipment recovery phase begins, the lifting drive motor 602 is first reversed, driving the lifting drive wheel 603 to move downwards along the second suspension wire 504, causing the camera attitude adjustment component 6 to descend as a whole until the bottom of the guide sleeve 606 contacts and engages with the counterweight 505. After docking, the winding drive motor 501 reverses, driving the wire winding shaft 502 to rotate, simultaneously winding up the first suspension wire 503 and the second suspension wire 504, lifting the counterweight 505 and the camera attitude adjustment component 6 upwards and resetting them, thus completing the recovery of all suspended components. After all mechanisms of the machine are reset, the adjusting bolt 304 is loosened in the reverse direction, releasing the clamping and fixing mechanism from the main track wire rope 4, allowing the equipment to detach from the track and completing the entire single inspection process.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0032] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wire rope track steering inspection robot, characterized in that: The robot includes a main frame (1), with wire rope clamping and fixing mechanisms (3) installed at both ends of the main frame (1), and the main track wire rope (4) clamped and cooperated with the wire rope clamping and fixing mechanism (3); a traction rope (2) is fixedly connected to the middle of the main frame (1), and a winding and lifting mechanism (5) is installed at the bottom of the main frame (1), with a camera posture adjustment component (6) suspended below the winding and lifting mechanism (5).

2. The wire rope track steering inspection robot according to claim 1, characterized in that: The wire rope clamping and fixing mechanism (3) is provided with a guide screw (305), which is fixed on the robot main frame (1). A sliding push block (303) is slidably sleeved on the outside of the guide screw (305). An adjusting bolt (304) is threadedly fitted at the end of the guide screw (305), and the end of the adjusting bolt (304) abuts against the sliding push block (303). A movable clamping wheel (302) is installed on the sliding push block (303). A fixed clamping wheel (301) is fixedly provided on the robot main frame (1) at the position corresponding to the movable clamping wheel (302). The movable clamping wheel (302) and the fixed clamping wheel (301) are arranged opposite to each other and clamp the main track wire rope (4) together.

3. The wire rope track steering inspection robot according to claim 1, characterized in that: The winding and lifting mechanism (5) is equipped with a winding drive motor (501), which is fixed at the bottom of the robot main frame (1). The output end of the winding drive motor (501) is connected to a wire winding shaft (502). Two first suspension wires (503) and one second suspension wire (504) are wound on the wire winding shaft (502). The lower ends of the first suspension wires (503) and the second suspension wires (504) are connected to a counterweight (505). The two first suspension wires (503) are respectively arranged at both ends of the counterweight (505).

4. The wire rope track steering inspection robot according to claim 3, characterized in that: Each of the first suspension wires (503) is fitted with a buffer spring (605) on its outer side. The upper end of the buffer spring (605) abuts against the coiling and lifting mechanism (5), and the lower end of the buffer spring (605) abuts against the counterweight (505).

5. The wire rope track steering inspection robot according to claim 3, characterized in that: The first suspension wire (503) and the second suspension wire (504) are together threaded through a guide sleeve (606), which forms the base of the camera posture adjustment assembly (6). The lower end of the guide sleeve (606) is rotatably connected to a camera mounting base (601).

6. The wire rope track steering inspection robot according to claim 5, characterized in that: The guide sleeve (606) is fixedly installed with a lifting drive motor (602), and the output shaft of the lifting drive motor (602) is connected to a lifting drive wheel (603). The outer wall of the lifting drive wheel (603) is in contact with the outer wall of the second suspension wire (504).

7. The wire rope track steering inspection robot according to claim 5, characterized in that: The guide sleeve (606) integrates a gear drive unit, which includes a drive gear (608). The drive gear (608) is driven to rotate by an independent power source inside the guide sleeve (606). A rotating gear ring (607) is fixedly mounted on the outer edge of the camera mounting base (601). The drive gear (608) and the rotating gear ring (607) are fully engaged. The drive gear (608) can drive the camera mounting base (601) to rotate circumferentially relative to the guide sleeve (606) through the rotating gear ring (607).

8. The wire rope track steering inspection robot according to claim 7, characterized in that: The camera mounting base (601) has two sets of mounting positions symmetrically opened on its side wall. Each set of mounting positions is fixedly equipped with an inspection camera (7). The inspection camera (7) rotates synchronously with the camera mounting base (601), and the lens of the inspection camera (7) is arranged facing outward.

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