Multi-wheel elastic extrusion flexible climbing cable maintenance robot

Abstract

The utility model relates to the technical field of multi-wheel elastic extrusion flexible climbing cable maintenance robots, and discloses a multi-wheel elastic extrusion flexible climbing cable maintenance robot which comprises a flexible double-rod connecting assembly. The flexible double-rod connecting assembly is reasonable in structure, the two flexible double-rod connecting assemblies are arranged, the left end and the right end of each flexible double-rod connecting assembly are each provided with one multi-wheel climbing assembly, two cables can work at the same time, efficiency is improved, the flexible double-rod connecting assemblies are of a structure capable of being spliced, splicing and fixing are conducted through the frameworks, the rotating shafts and the elastic connecting ropes, and operation is convenient. In addition, the elastic connecting rope is arranged in the middle to fix and guarantee the frameworks at the two ends, certain elasticity is achieved, breakage caused by excessive pulling is prevented, meanwhile, the two ends can be folded during storage and carrying, the whole structure is lifted through the elastic connecting rope, and the monitoring assembly can record climbing work pictures of the robot in real time. And the bottom of the cable maintenance assembly can be connected with a long pipe for conveying an antirust agent required during maintenance from the ground.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-wheel elastic extrusion flexible climbing cable maintenance robots, in particular to a multi-wheel elastic extrusion flexible climbing cable maintenance robot. Background Art

[0002] In daily life, cables are exposed to the air for a long time, and are eroded by wind, sun, rain and environmental pollution, which will cause the surface PE protective layer of the cable to harden or break, which will cause the internal steel wire bundles or steel strands to be corroded, and even wire breakage may occur. On the other hand, due to wind vibration, rain vibration and other reasons, the steel wire bundles inside the cable will produce friction, causing steel wire wear, and in severe cases, wire breakage will occur, seriously endangering people's safety. As the service time of these bridges increases, the demand for detection of cables, suspension cables, etc. is also increasing. It is particularly important to detect damage to their surface protective layers. Timely discovery and maintenance are more conducive to protecting the steel wires inside the cables, increasing the service life of the cable body, and maintaining the safety of the bridge.

[0003] The cable retrieval maintenance robot with a fixed double-claw structure disclosed in the Chinese utility model patent application disclosure specification CN209307883U has a front claw frame and a rear claw frame on the body, the front claw is fixedly connected to one end of the front claw frame through the front claw palm, and the rear claw is fixedly connected to one end of the rear claw frame through the rear claw palm, but only two clamping claws are provided on one side of the cable, so only one cable can be climbed during operation, resulting in low efficiency, and there is a lack of a monitoring structure, so ground staff cannot see the scene when the maintenance robot is climbing. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the utility model provides a multi-wheel elastic extrusion flexible climbing cable maintenance robot, which solves the problem that only one side of the cable is provided with two clamping claws and can only climb one cable during work, resulting in low efficiency, and lacks a monitoring structure, so that ground staff cannot see the picture of the maintenance robot when climbing.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the utility model is implemented through the following technical solutions: a multi-wheel elastic extrusion flexible climbing cable maintenance robot, comprising a flexible double-rod connection component 1, a multi-wheel climbing component 2 is respectively arranged on the left and right sides of the flexible double-rod connection component 1, a monitoring component 3 is arranged on the top of each of the multi-wheel climbing components 2, a dust cleaning component 4 is arranged on one side of the monitoring component 3, a cable maintenance component 5 is arranged on the bottom of each of the multi-wheel climbing components 2, the flexible double-rod connection component 1 comprises two elastic connecting ropes 101, and the left and right sides of each of the elastic connecting ropes 101 are respectively arranged. The two ends are respectively connected to the skeleton A102 and the skeleton C107, the left and right ends of the skeleton A102 are respectively provided with a rotating shaft A103, one end of the skeleton A102 is connected to the skeleton B104, the left and right ends of the skeleton B104 are respectively provided with a rotating shaft B105, the left and right ends of the skeleton C107 are respectively provided with a rotating shaft C108, one end of the skeleton C107 is provided with a skeleton D109, the left and right ends of the skeleton D109 are respectively provided with a rotating shaft D110, and fixing bolts A106 are respectively provided at the edges of one end of the two skeletons B104 and skeleton D109.

[0008] Optionally, the multi-wheel climbing assembly 2 includes a U-shaped fixing buckle A201, and a U-shaped connecting rod A203 is respectively provided on the left and right sides of one side surface of the U-shaped fixing buckle A201, and a driving wheel 205 is provided between one ends of the two U-shaped connecting rods A203, and screw holes 204 are respectively provided at the left and right ends of the two U-shaped connecting rods A203, and one end of the driving wheel 205 is connected to the output end of the driving motor 206.

[0009] Optionally, a fixing rod 207 is provided on the top of the U-shaped fixing buckle A201, a U-shaped fixing buckle B208 is provided at the center of the surface of the fixing rod 207, an auxiliary wheel A209 is provided at one end of the U-shaped fixing buckle B208, a rectangular fixing block A210 is provided on the top of the fixing rod 207, and two U-shaped connecting rods B211 are arranged on the surface of one side of the rectangular fixing block A210, an auxiliary wheel B212 is provided between one ends of the two U-shaped connecting rods B211, and fixing bolts B202 are respectively provided on the left and right side surfaces of the four U-shaped fixing buckles A201, the left and right side surfaces of the U-shaped connecting rod A203 at one end edge, the left and right side surfaces of the U-shaped fixing buckle B208 at one end edge, and the left and right side surfaces of the U-shaped connecting rod B211 at one end edge.

[0010] Optionally, the monitoring component 3 includes an L-shaped connecting plate 301, one side of the L-shaped connecting plate 301 is connected to a fixed disc 302, a support column 303 is provided at the center of the top surface of the fixed disc 302, a warning light 304 is provided on the top surface of the support column 303, and a spherical camera 305 is provided at the bottom of the fixed disc 302.

[0011] Optionally, the cleaning component 4 includes a semicircular wiping sponge 401, and a connecting hole A402 and a connecting hole B403 are respectively opened at the left and right ends of the semicircular wiping sponge 401. A connecting bolt A404 penetrates the interior of the connecting hole A402, and a connecting bolt B405 penetrates the interior of the connecting hole B403.

[0012] Optionally, the left and right sides of the connecting bolt A404 are respectively wrapped with a connecting shaft A406 and a connecting shaft B407, and the left and right sides of the connecting bolt B405 are respectively wrapped with a connecting shaft C408 and a connecting shaft D409.

[0013] Optionally, the cable maintenance assembly 5 includes a solution storage tank 501, and connection ports 502 are respectively opened at the center of the top surface and the center of the bottom surface of the solution storage tank 501, wherein a nozzle 505 is provided at the top of one of the connection ports 502, and a negative pressure pipe 506 is provided at the top of the nozzle 505. An annular nozzle 507 is connected to one side of the nozzle 505, and a plurality of nozzles 508 are opened in an annular form on the inner surface of the annular nozzle 507.

[0014] Optionally, a rectangular fixing block B503 is provided on the top surface of the solution storage tank 501 near one side edge, and a fixing bolt C504 is provided on the top of the rectangular fixing block B503.

[0015] In summary, the technical effects and advantages of the utility model are:

[0016] 1. The utility model has a reasonable structure. It is divided into two by a flexible double-rod connecting component, and a multi-wheel climbing component is respectively provided at the left and right ends of the two cables, so that the two cables can work at the same time to improve efficiency. The flexible double-rod connecting component is a multiple splicing structure, which is spliced ​​and fixed by multiple skeletons, rotating shafts and elastic connecting ropes. In addition, the elastic connecting rope is arranged in the middle to fix the skeletons at both ends, and has a certain elasticity to prevent breakage due to excessive pulling. At the same time, the two ends can be folded and the elastic connecting rope can be used to lift the overall structure during storage and transportation. The monitoring component can also record the robot climbing working screen in real time. The bottom of the cable maintenance component can be connected to a long tube to transport the rust inhibitor, paint, water source and other maintenance solutions needed for maintenance from the ground, and then the cable surface is sprayed with an annular nozzle. Finally, the dust cleaning component on the surface of the monitoring component can regularly patrol and wipe the surface of the spherical camera.

[0017] 2. In the utility model, a driving wheel is connected to one side of a U-shaped fixing buckle A in the multi-wheel climbing assembly structure by using a U-shaped connecting rod A and a fixing bolt B. The driving wheel is driven by a driving motor on one side to rotate. Auxiliary wheels A and B are respectively arranged on one side of the U-shaped fixing buckle B and one side of the rectangular fixing block A, so as to achieve the effect of clamping the cable and assisting climbing for the overall climbing.

[0018] 3. In the utility model, the working process of the dust cleaning component is to start the connecting shafts on both sides to rotate the semicircular wiping sponge to wipe the surface of the spherical camera in a circular manner, and the semicircular wiping sponge can be replaced at will by using the connecting structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 It is a schematic diagram of the structure of the flexible double-rod connection assembly;

[0021] Figure 3 This is a schematic diagram of the overall splicing structure of the multi-wheel climbing assembly;

[0022] Figure 4 This is a schematic diagram of the exploded structure of the multi-wheel climbing assembly;

[0023] Figure 5 This is a schematic diagram of the cable maintenance assembly structure;

[0024] Figure 6 It is a schematic diagram of the monitoring component structure;

[0025] Figure 7 It is a schematic diagram of the structure of the dust cleaning component.

[0026] In the figure: 1. Flexible double-rod connecting assembly; 101. Elastic connecting rope; 102. Frame A; 103. Rotating shaft A; 104. Frame B; 105. Rotating shaft B; 106. Fixing bolt A; 107. Frame C; 108. Rotating shaft C; 109. Frame D; 110. Rotating shaft D; 2. Multi-wheel climbing assembly; 201. U-shaped fixing buckle A; 202. Fixing bolt B; 203. U-shaped connecting rod A; 204. Screw hole; 205. Driving wheel; 206. Driving motor; 207. Fixing rod; 208. U-shaped fixing buckle B; 209. Auxiliary wheel A; 210. Rectangular fixing block A; 211. U-shaped connecting rod B; 212. Auxiliary wheel B; 3. Monitoring component; 301, L-shaped connecting plate; 302, fixed disc; 303, supporting column; 304, warning light; 305, spherical camera; 4, cleaning component; 401, semicircular wiping sponge; 402, connecting hole A; 403, connecting hole B; 404, connecting bolt A; 405, connecting bolt B; 406, connecting shaft A; 407, connecting shaft B; 408, connecting shaft C; 409, connecting shaft D; 5, cable maintenance component; 501, solution storage tank; 502, connecting port; 503, rectangular fixing block B; 504, fixing bolt C; 505, nozzle; 506, negative pressure pipe; 507, annular nozzle; 508, nozzle. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] Example: Reference Figure 1 and Figure 2A multi-wheel elastic extrusion flexible climbing cable maintenance robot shown in the figure comprises a flexible double-rod connection component 1, a multi-wheel climbing component 2 is respectively arranged on the left and right sides of the flexible double-rod connection component 1, a monitoring component 3 is arranged on the top of each multi-wheel climbing component 2, a dust cleaning component 4 is arranged on one side surface of the monitoring component 3, a cable maintenance component 5 is arranged on the bottom of each multi-wheel climbing component 2, the flexible double-rod connection component 1 comprises two elastic connection ropes 101, the left and right ends of each elastic connection rope 101 are respectively connected to a skeleton A102 and a skeleton C107, the left and right ends of the skeleton A102 are respectively provided with a rotating shaft A103, one end of the skeleton A102 is connected to a skeleton B104, the left and right ends of the skeleton B104 are respectively provided with a rotating shaft B105, the left and right ends of the skeleton C107 are respectively provided with a rotating shaft C 108. A frame D109 is provided at one end of the frame C107. A rotating shaft D110 is provided at the left and right ends of the frame D109 respectively. Fixing bolts A106 are provided at the edges of one end of the two frames B104 and the frame D109 respectively. The flexible double-rod connection assembly 1 is divided into two, and a multi-wheel climbing assembly 2 is provided at the left and right ends respectively, so that the two cables can work simultaneously and the efficiency is improved. The flexible double-rod connection assembly 1 is a multiple splicing structure, which is spliced ​​and fixed by multiple frames, rotating shafts and elastic connecting ropes 101. In addition, the elastic connecting rope 101 is arranged in the middle to fix the frames at both ends, and has a certain elasticity to prevent breakage due to excessive pulling. At the same time, the two ends can be folded during storage and transportation, and the elastic connecting rope 101 can be used to lift the whole structure.

[0029] like Figure 3-Figure 5As shown, in this embodiment, the multi-wheel climbing assembly 2 includes a U-shaped fixing buckle A201, and a U-shaped connecting rod A203 is respectively provided on the left and right sides of one side surface of the U-shaped fixing buckle A201, and a driving wheel 205 is provided between one end of the two U-shaped connecting rods A203. The left and right ends of the two U-shaped connecting rods A203 are respectively provided with screw holes 204, and one end of the driving wheel 205 is connected to the output end of the driving motor 206. A fixing rod 207 is provided on the top of the U-shaped fixing buckle A201, and the fixing rod A U-shaped fixing buckle B208 is provided at the center of the surface of the fixing rod 207, and an auxiliary wheel A209 is provided at one end of the U-shaped fixing buckle B208. A rectangular fixing block A210 is provided at the top of the fixing rod 207. Two U-shaped connecting rods B211 are arranged on one side of the rectangular fixing block A210. An auxiliary wheel B212 is provided between one end of the two U-shaped connecting rods B211. The left and right side surfaces of the four U-shaped fixing buckles A201 and the left and right side surfaces of the U-shaped connecting rod A203 are close to one end edge. The cable maintenance assembly 5 comprises a solution storage tank 501, and a connection port 502 is respectively provided at the center of the top surface and the center of the bottom surface of the solution storage tank 501. A nozzle 505 is provided at the top of one of the connection ports 502, and a negative pressure pipe 506 is provided at the top of the nozzle 505. One side of the nozzle 505 is connected to a ring shaped nozzle 507, the inner surface of the annular nozzle 507 is provided with several nozzles 508 in annular form, a rectangular fixing block B503 is provided on the top surface of the solution storage tank 501 near one side edge, a fixing bolt C504 is provided on the top of the rectangular fixing block B503, and the connection port 502 at the bottom of the cable maintenance component 5 can be connected to a long pipe to transport the rust inhibitor, paint, water source and other maintenance solutions needed for maintenance from the ground, and then the annular nozzle 507 is used to spray the cable surface.

[0030] like Figure 6 and Figure 7As shown, in this embodiment, the monitoring component 3 includes an L-shaped connecting plate 301, one side of the L-shaped connecting plate 301 is connected to a fixed disc 302, a support column 303 is provided at the center of the top surface of the fixed disc 302, a warning light 304 is provided on the top surface of the support column 303, a spherical camera 305 is provided at the bottom of the fixed disc 302, and the warning light 304 can keep flashing when working at night to remind the robot to reach the position, and the dust cleaning component 4 includes a semicircular wiping sponge 401, and the left and right ends of the semicircular wiping sponge 401 are respectively provided with a connecting hole A402 and a connecting hole B403 A connecting bolt A404 penetrates the interior of the connecting hole A402, a connecting bolt B405 penetrates the interior of the connecting hole B403, the left and right sides of the connecting bolt A404 are respectively wrapped with a connecting shaft A406 and a connecting shaft B407, the left and right sides of the connecting bolt B405 are respectively wrapped with a connecting shaft C408 and a connecting shaft D409, the working process of the cleaning component 4 is to start the connecting shafts on both sides to rotate the semicircular wiping sponge 401 to wipe the surface of the spherical camera 305 in a circular manner, and the semicircular wiping sponge 401 can be replaced at will using the connecting structure.

[0031] How this utility works:

[0032] First, the flexible double-rod connection component 1 is divided into two, and a multi-wheel climbing component 2 is provided at each of the left and right ends, so that the two cables can work at the same time to improve efficiency. The flexible double-rod connection component 1 is a multiple splicing structure, which is spliced ​​and fixed by multiple skeletons, rotating shafts and elastic connecting ropes 101. In addition, the elastic connecting rope 101 is arranged in the middle to fix the skeletons at both ends, and has a certain elasticity to prevent breakage due to excessive pulling. At the same time, the two ends can be folded during storage and transportation, and the elastic connecting rope 101 can be used to lift the entire structure. The monitoring component 3 can also record the robot climbing work screen in real time. The bottom of the cable maintenance component 5 can be connected to a long tube to transport the rust inhibitor, paint, water source and other maintenance solutions needed for maintenance from the ground, and then the annular nozzle 507 is used to spray the cable surface. Brush, and finally the cleaning component 4 on the surface of the monitoring component 3 can regularly patrol and wipe the surface of the spherical camera 305 for cleaning, and then use the U-shaped connecting rod A203 and the fixing bolt B202 to connect a driving wheel 205 through one side of the U-shaped fixing buckle A201 in the multi-wheel climbing component 2 structure. The power source of the driving wheel 205 and the driving motor 206 on one side drive the driving wheel 205 to rotate, and the auxiliary wheel A209 and the auxiliary wheel B212 are respectively provided on one side of the U-shaped fixing buckle B208 and one side of the rectangular fixed block A210, so as to achieve the effect of clamping the cable and assisting the climbing of the whole. Finally, the working process of the cleaning component 4 is to start the connecting shafts on both sides to rotate the semicircular wiping sponge 401 to patrol and wipe the surface of the spherical camera 305, and the semicircular wiping sponge 401 can be replaced at will using the connecting structure.

[0033] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device for controlling a computer or the like.

[0034] Finally, it should be noted that the above is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A multi-wheel elastic extrusion flexible climbing cable maintenance robot, comprising a flexible double-rod connection assembly (1), characterized in that: The left and right sides of the flexible double-rod connection assembly (1) are respectively provided with a multi-wheel climbing assembly (2); the top of each of the multi-wheel climbing assemblies (2) is provided with a monitoring assembly (3); a dust cleaning assembly (4) is provided on one side surface of the monitoring assembly (3); and the bottom of each of the multi-wheel climbing assemblies (2) is provided with a cable maintenance assembly (5); The flexible double-rod connection assembly (1) comprises two elastic connection ropes (101), the left and right ends of each of the elastic connection ropes (101) are respectively connected to a frame A (102) and a frame C (107), the left and right ends of the frame A (102) are respectively provided with a rotation shaft A (103), one end of the frame A (102) is connected to a frame B (104), the left and right ends of the frame B (104) are respectively provided with a rotation shaft B (105), the left and right ends of the frame C (107) are respectively provided with a rotation shaft C (108), one end of the frame C (107) is provided with a frame D (109), the left and right ends of the frame D (109) are respectively provided with a rotation shaft D (110), and fixing bolts A (106) are respectively provided at the edges of one end of the two frames B (104) and frame D (109).

2. A multi-wheel elastic extrusion flexible climbing cable maintenance robot according to claim 1, characterized in that: The multi-wheel climbing assembly (2) comprises a U-shaped fixing buckle A (201), a U-shaped connecting rod A (203) is respectively provided on the left and right sides of one side surface of the U-shaped fixing buckle A (201), a driving wheel (205) is provided between one ends of the two U-shaped connecting rods A (203), screw holes (204) are respectively provided at the left and right ends of the two U-shaped connecting rods A (203), and one end of the driving wheel (205) is connected to the output end of the driving motor (206).

3. A multi-wheel elastic extrusion flexible climbing cable maintenance robot according to claim 2, characterized in that: A fixing rod (207) is provided at the top of the U-shaped fixing buckle A (201), a U-shaped fixing buckle B (208) is provided at the center of the surface of the fixing rod (207), an auxiliary wheel A (209) is provided at one end of the U-shaped fixing buckle B (208), a rectangular fixing block A (210) is provided at the top of the fixing rod (207), two U-shaped connecting rods B (211) are arranged on one side surface of the rectangular fixing block A (210), an auxiliary wheel B (212) is provided between one ends of the two U-shaped connecting rods B (211), and fixing bolts B (202) are respectively provided on the left and right side surfaces of the four U-shaped fixing buckles A (201), the left and right side surfaces of the U-shaped connecting rod A (203) at one end edge, the left and right side surfaces of the U-shaped fixing buckle B (208) at one end edge, and the left and right side surfaces of the U-shaped connecting rod B (211) at one end edge.

4. The multi-wheel elastic extrusion flexible climbing cable maintenance robot according to claim 1, characterized in that: The monitoring component (3) comprises an L-shaped connecting plate (301), one side of the L-shaped connecting plate (301) is connected to a fixed disc (302), a support column (303) is provided at the center of the top surface of the fixed disc (302), a warning light (304) is provided on the top surface of the support column (303), and a spherical camera (305) is provided at the bottom of the fixed disc (302).

5. The multi-wheel elastic extrusion flexible climbing cable maintenance robot according to claim 1, characterized in that: The dust cleaning component (4) comprises a semicircular wiping sponge (401), and a connecting hole A (402) and a connecting hole B (403) are respectively provided at the left and right ends of the semicircular wiping sponge (401), a connecting bolt A (404) passes through the interior of the connecting hole A (402), and a connecting bolt B (405) passes through the interior of the connecting hole B (403).

6. The multi-wheel elastic extrusion flexible climbing cable maintenance robot according to claim 5, characterized in that: The left and right sides of the connecting bolt A (404) are respectively wrapped with a connecting shaft A (406) and a connecting shaft B (407), and the left and right sides of the connecting bolt B (405) are respectively wrapped with a connecting shaft C (408) and a connecting shaft D (409).

7. The multi-wheel elastic extrusion flexible climbing cable maintenance robot according to claim 1, characterized in that: The cable maintenance component (5) includes a solution storage tank (501), and connection ports (502) are respectively opened at the center of the top surface and the center of the bottom surface of the solution storage tank (501), and a nozzle (505) is provided at the top of one of the connection ports (502), and a negative pressure pipe (506) is provided at the top of the nozzle (505), and an annular nozzle (507) is connected to one side of the nozzle (505), and the inner surface of the annular nozzle (507) is provided with a plurality of nozzles (508) in an annular form.

8. The multi-wheel elastic extrusion flexible climbing cable maintenance robot according to claim 7, characterized in that: A rectangular fixing block B (503) is provided on the top surface of the solution storage tank (501) near one side edge, and a fixing bolt C (504) is provided on the top of the rectangular fixing block B (503).

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