Early warning driving device of cable climbing robot

Abstract

The utility model belongs to the technical field of cable climbing robots, particularly relates to an early warning driving device of a cable climbing robot, and aims to solve the problem that an existing cable climbing robot is inconvenient to carry out early warning or warning on the outside in the cable climbing process due to the lack of a structure for detecting whether a cableway is complete or fractured in the using process of the existing cable climbing robot. According to the technical scheme, the robot comprises a robot body, cameras fixedly installed at the two ends of the robot body and warning indicators fixedly installed on the two sides of the robot body; a driving mechanism is arranged in the robot body, the front end of the driving mechanism is elastically connected with a clamping plate, the clamping plate is driven by the driving mechanism to clamp a rope, in the clamping process, a pressure sensor on the inner side of the clamping plate can receive pressure between the clamping plate and the rope, and the rope is clamped by the clamping plate. When the pressure sensor in the clamping plate cannot receive the pressure, the rope may be broken or greatly damaged and the like.

Description

Technical Field

[0001] The utility model relates to a warning driving device, in particular to a warning driving device for a cable-climbing robot, belonging to the technical field of cable-climbing robots. Background Technique

[0002] The cable-climbing robot, also known as the "intelligent cable inspection robot for bridges", can climb along cables with any inclination angle to perform cable inspection, cleaning and other tasks. During the use of the cable-climbing robot, the most important part is the driving mechanism of the cable-climbing robot, and its main function is to drive the cable-climbing robot to crawl at the bridge cable.

[0003] In the prior art, for example, the cable-climbing robot disclosed in the publication number CN217517354U can apply a relatively appropriate clamping force to the cable to be measured through the cooperation of the detection component and the control component, and compared with the component composed of the electric push rod and the power supply, the cylinder component has a smaller weight and can effectively reduce the wear on the cable to be measured.

[0004] However, in actual use, when the upper part of the rope breaks or is severely damaged during the use of the above cable-climbing robot, the detection component and the control component cannot react and alarm in time, resulting in the cable-climbing robot falling from the bridge cable after continuing to crawl. Content of the Utility Model

[0005] The utility model provides a warning driving device for a cable-climbing robot to solve the problem that when the upper part of the rope breaks or is severely damaged during the use of the above cable-climbing robot, the detection component and the control component cannot react and alarm in time, resulting in the cable-climbing robot falling from the bridge cable after continuing to crawl.

[0006] The utility model realizes the above object through the following technical solutions: a warning driving device for a cable-climbing robot, including a robot body, a camera fixedly installed at both ends of the robot body, and warning devices fixedly installed on both sides of the robot body;

[0007] A driving mechanism is arranged inside the robot body, a clamping plate is elastically connected to the front end of the driving mechanism, a plurality of pressure sensors are fixedly installed on the inner side of the front end of the clamping plate, and the pressure sensors are electrically connected to both the warning device and the camera.

[0008] As a further solution of the utility model: The driving mechanism includes a servo motor, which is fixedly installed inside the robot body. The output end of the servo motor is fixedly connected with a first gear. Both sides of the first gear are meshed with a second gear. One side of the second gear is fixedly connected with a transmission rod, and a first transmission frame is arranged at both the transmission rod and the second gear. A second transmission frame is rotatably installed below the first transmission frame.

[0009] As a further solution of the utility model: A third transmission frame is rotatably installed at the connection between the first transmission frame and the second gear, a fourth transmission frame is rotatably installed at the connection between the second transmission frame and the third transmission frame, and a fifth transmission frame is rotatably installed at the end of the second transmission frame.

[0010] As a further solution of the utility model: The third transmission frame, the fourth transmission frame and the fifth transmission frame are horizontally installed, and the two third transmission frames, the fourth transmission frame and the fifth transmission frame are symmetrically arranged.

[0011] As a further solution of the utility model: A sixth transmission frame is rotatably installed on the side of the third transmission frame, the fourth transmission frame and the fifth transmission frame away from the first transmission frame and the second transmission frame, and a connecting frame is rotatably installed at the end of the sixth transmission frame.

[0012] As a further solution of the utility model: The third transmission frame, the fourth transmission frame and the fifth transmission frame located at the transmission rod are symmetrically arranged with the third transmission frame, the fourth transmission frame and the fifth transmission frame located at the second gear.

[0013] As a further solution of the utility model: A fixing rod is arranged outside the second gear, a support frame is rotatably installed at the front end of the fixing rod, and one end of the support frame is rotatably installed at the fourth transmission frame.

[0014] The beneficial effects of the utility model are:

[0015] 1. The ropes at the front and rear ends of the cable-climbing robot are photographed by the provided camera and the photographed content is fed back in real time, so as to avoid the problem that the cable of the cable-climbing robot breaks during the cable-climbing process and the cable-climbing robot cannot give timely feedback. And during the cable-climbing process of the cable-climbing robot, a plurality of pressure sensors arranged inside the clamping plate can collect more accurate cable information by detecting the pressure during the intermittent upward movement of the clamping plate to drive the cable-climbing robot.

[0016] 2. The servo motor of the driving mechanism drives the first gear and the second gear to rotate. The rotation of the second gear drives the transmission rod, the first transmission frame at the transmission rod, and the transmission frame at the second gear to rotate respectively. The rotation of the first transmission frame drives the second transmission frame to rotate. At the same time, after the first transmission frame and the second transmission frame rotate, the third transmission frame, the fourth transmission frame, and the fifth transmission frame will be driven simultaneously. Thus, the connecting rod structures at the first transmission frame, the second transmission frame, the third transmission frame, the fourth transmission frame, and the fifth transmission frame drive the clamping plate at the connecting frame to perform intermittent motion, thereby driving the movement of the cable climbing robot. Brief Description of the Drawings

[0017] Figure 1 Schematic diagram of the overall structure of the present invention;

[0018] Figure 2 Schematic diagram of the structure of the driving mechanism of the present invention;

[0019] Figure 3 For the present invention Figure 2 Schematic diagram of the partial enlarged structure at A of the present invention;

[0020] Figure 4 Schematic diagram of the structure of the robot body of the present invention.

[0021] In the figure: 1. Robot body; 2. Camera; 3. Alarm; 4. Driving mechanism; 401. Servo motor; 402. First gear; 403. Second gear; 404. Transmission rod; 405. First transmission frame; 406. Second transmission frame; 407. Third transmission frame; 408. Fourth transmission frame; 409. Fifth transmission frame; 410. Sixth transmission frame; 411. Connecting frame; 5. Clamping plate; 6. Pressure sensor; 7. Fixed rod; 8. Support frame. Detailed Description of the Preferred Embodiment

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Embodiment 1

[0024] As Figures 1 to 4 shown, an early warning driving device for a cable climbing robot includes a robot body 1, a camera 2 fixedly installed at both ends of the robot body 1, and an alarm 3 fixedly installed on both sides of the robot body 1;

[0025] Inside the robot body 1, a driving mechanism 4 is provided. The front end of the driving mechanism 4 is elastically connected to a clamping plate 5. Inside the front end of the clamping plate 5, multiple pressure sensors 6 are fixedly installed. The pressure sensors 6 are electrically connected to both the warning device 3 and the camera 2.

[0026] Embodiment 2

[0027] In addition to all the technical features included in Embodiment 1, this embodiment further includes:

[0028] The driving mechanism 4 includes a servo motor 401. The servo motor 401 is fixedly installed inside the robot body 1. The output end of the servo motor 401 is fixedly connected to a first gear 402. On both sides of the first gear 402, second gears 403 are meshed and connected. One side of the second gear 403 is fixedly connected to a transmission rod 404. At the transmission rod 404 and the second gear 403, first transmission frames 405 are provided. Below the first transmission frame 405, a second transmission frame 406 is rotatably installed. The servo motor 401 can drive the rotation of the first gear 402 and the second gears 403. When the second gear 403 rotates, it can drive the transmission rod 404, the first transmission frame 405 and the second transmission frame 406 at the transmission rod 404, and the first transmission frame 405 and the second transmission frame 406 at the second gear 403 to rotate respectively.

[0029] At the connection between the first transmission frame 405 and the second gear 403, a third transmission frame 407 is rotatably installed. At the connection between the second transmission frame 406 and the third transmission frame 407, a fourth transmission frame 408 is rotatably installed. At the end of the second transmission frame 406, a fifth transmission frame 409 is rotatably installed. When the first transmission frame 405 rotates, it can drive the second transmission frame 406 to rotate. And the third transmission frame 407 at the top of the first transmission frame 405, the fourth transmission frame 408 at the connection between the first transmission frame 405 and the second transmission frame 406, and the fifth transmission frame 409 at the end of the second transmission frame 406 will be driven to rotate simultaneously.

[0030] The third transmission frame 407, the fourth transmission frame 408 and the fifth transmission frame 409 are installed horizontally. And the two third transmission frames 407, the fourth transmission frame 408 and the fifth transmission frame 409 are symmetrically arranged. The symmetrical arrangement of the two third transmission frames 407, the fourth transmission frame 408 and the fifth transmission frame 409 can achieve different clamping directions during rotation.

[0031] On one side of the third transmission frame 407, the fourth transmission frame 408, and the fifth transmission frame 409 away from the first transmission frame 405 and the second transmission frame 406, a sixth transmission frame 410 is rotatably installed. At the end of the sixth transmission frame 410, a connecting frame 411 is rotatably installed. The sixth transmission frame 410 can connect the third transmission frame 407, the fourth transmission frame 408, and the fifth transmission frame 409, and drive the connecting frame 411 through the rotation of the sixth transmission frame 410.

[0032] The third transmission frame 407, the fourth transmission frame 408, and the fifth transmission frame 409 located at the transmission rod 404 and the third transmission frame 407, the fourth transmission frame 408, and the fifth transmission frame 409 located at the second gear 403 are symmetrically arranged. The multiple groups of symmetrically arranged third transmission frame 407, fourth transmission frame 408, and fifth transmission frame 409 can achieve the effect of simultaneously driving the third transmission frame 407, the fourth transmission frame 408, and the fifth transmission frame 409 at different positions when driven by the servo motor 401.

[0033] A fixing rod 7 is arranged outside the second gear 403. At the front end of the fixing rod 7, a support frame 8 is rotatably installed. One end of the support frame 8 is rotatably installed at the fourth transmission frame 408. The support frame 8 can fix the rotation trajectory of the fourth transmission frame 408.

[0034] Working principle: First, place the robot body 1 outside the bridge cable, clamp the bridge cable with the clamping plate 5, and establish a pressure connection between the pressure sensor 6 and the bridge cable. Then, the driving mechanism 4 can be turned on, and the servo motor 401 of the driving mechanism 4 drives the first gear 402 and the second gear 403 to rotate. The rotation of the second gear 403 drives the transmission rod 404, the first transmission frame 405 at the transmission rod 404, and the first transmission frame 405 at the second gear 403 to rotate respectively. When the first transmission frame 405 drives the second transmission frame 406 to rotate, the third transmission frame 407, the fourth transmission frame 408, and the fifth transmission frame 409 on one side of the first transmission frame 405 and the second transmission frame 406 will be driven simultaneously. The rotation of the third transmission frame 407, the fourth transmission frame 408, and the fifth transmission frame 409 drives the sixth transmission frame 410 and the connecting frame 411 to rotate. Thus, the intermittent movement of the clamping plate 5 is realized through the link structure among the first transmission frame 405, the second transmission frame 406, the third transmission frame 407, the fourth transmission frame 408, the fifth transmission frame 409, and the sixth transmission frame 410, thereby driving the movement of the cable-climbing robot. During the movement, the cameras 2 at the front and rear ends of the robot body 1 continuously collect external information. During the collection process, the clamping plate 5 intermittently contacts the bridge cable. When the camera 2 can receive external information and observes that the cable is broken or severely worn, it will alarm through the alarm 3. When the camera 2 cannot clearly observe the external information, and the pressure sensor 6 inside the clamping plate 5 does not contact the bridge cable after the intermittent time range, the alarm 3 will also alarm to warn the outside world.

[0035] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0036] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard 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. An early warning drive device for a rope-climbing robot, characterized in that: It comprises a robot body (1), cameras (2) fixedly mounted at both ends of the robot body (1), and alarm devices (3) fixedly mounted at both sides of the robot body (1); A driving mechanism (4) is arranged inside the robot body (1), the front end of the driving mechanism (4) is elastically connected to a clamping plate (5), a plurality of groups of pressure sensors (6) are fixedly mounted on the inner side of the front end of the clamping plate (5), and the pressure sensors (6) are electrically connected to the alarm device (3) and the camera (2).

2. The early warning drive device of a rope-climbing robot according to claim 1, characterized in that: The driving mechanism (4) comprises a servo motor (401), wherein the servo motor (401) is fixedly mounted inside the robot body (1), an output end of the servo motor (401) is fixedly connected to a first gear (402), both sides of the first gear (402) are meshedly connected to second gears (403), one side of the second gear (403) is fixedly connected to a transmission rod (404), and a first transmission frame (405) is provided at the transmission rod (404) and the second gear (403), and a second transmission frame (406) is rotatably mounted below the first transmission frame (405).

3. The early warning drive device of a rope-climbing robot according to claim 2, characterized in that: A third transmission frame (407) is rotatably mounted at the connection between the first transmission frame (405) and the second gear (403), and a fourth transmission frame (408) is rotatably mounted at the connection between the second transmission frame (406) and the third transmission frame (407), and a fifth transmission frame (409) is rotatably mounted at the end of the second transmission frame (406).

4. The early warning drive device of a rope-climbing robot according to claim 3, characterized in that: The third transmission frame (407), the fourth transmission frame (408) and the fifth transmission frame (409) are installed horizontally, and the two third transmission frames (407), the fourth transmission frame (408) and the fifth transmission frame (409) are all symmetrically arranged.

5. The early warning drive device of a rope-climbing robot according to claim 3, characterized in that: A sixth transmission frame (410) is rotatably mounted on one side of the third transmission frame (407), the fourth transmission frame (408) and the fifth transmission frame (409) away from the first transmission frame (405) and the second transmission frame (406), and a connecting frame (411) is rotatably mounted on the end of the sixth transmission frame (410).

6. The early warning drive device of a rope-climbing robot according to claim 3, characterized in that: The third transmission frame (407), the fourth transmission frame (408) and the fifth transmission frame (409) located at the transmission rod (404) are symmetrically arranged with the third transmission frame (407), the fourth transmission frame (408) and the fifth transmission frame (409) located at the second gear (403).

7. The early warning drive device of a rope-climbing robot according to claim 3, characterized in that: A fixing rod (7) is arranged on the outer side of the second gear (403), a support frame (8) is rotatably mounted on the front end of the fixing rod (7), and one end of the support frame (8) is rotatably mounted on the fourth transmission frame (408).

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