Cooperative maintenance robot

Abstract

The utility model discloses a collaborative maintenance robot which comprises a climbing device, a load device, a repairing device and a traction device, the climbing device comprises a first frame, a first clasping mechanism and a climbing driving mechanism, the first clasping mechanism is arranged on the first frame, and the climbing driving mechanism is arranged on the first frame; the load device comprises a second frame, a second enclasping mechanism and a climbing driven mechanism, the second enclasping mechanism is arranged on the second frame, and the climbing driven mechanism is arranged on the first frame; the repairing device is arranged on the second frame; the traction device comprises a winch and a traction rope, the winch is used for winding the traction rope, one of the winch and the traction rope is connected with the first frame, and the other one is connected with the second frame. The climbing device does not need to bear the weight of the load device and the repairing device in the climbing process; when the first holding mechanism holds the cable, the climbing device pulls the load device and the repairing device to move upwards through the traction rope.

Description

Technical Field

[0001] The utility model relates to the technical field of cable maintenance, in particular to a collaborative maintenance robot. Background Art

[0002] The key stress member of a cable-stayed bridge is the cable, and the outer surface of the cable is covered with a protective layer. Due to mechanical damage, aging, etc. of the protective layer, the surface of the protective layer is damaged, resulting in rainwater seeping into the cable interior, causing steel wire corrosion. Coupled with wind vibration and rain vibration, the internal steel wire bundles rub against and wear each other, accelerating wire breakage.

[0003] In the related art, a cable maintenance robot includes a climbing active mechanism. The climbing active mechanism uses rollers to crawl forward along the cable, so that the cable maintenance robot crawls along the cable, and then the cable is maintained.

[0004] However, the load capacity of the cable maintenance robot is limited, resulting in the cable maintenance robot being unable to load a relatively heavy maintenance device. Therefore, the maintenance device cannot cover all aspects in terms of functions, thus affecting the application effect of the cable maintenance robot. Content of the Utility Model

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a collaborative maintenance robot, which can load a relatively heavy repair device to meet the needs of multiple functions.

[0006] An embodiment of the present application provides a collaborative maintenance robot, including:

[0007] A climbing device, including a first frame, a first clamping mechanism and a climbing active mechanism. Among them, the first clamping mechanism is arranged on the first frame and is used for clamping the cable, and the climbing active mechanism is arranged on the first frame and is used for crawling along the cable;

[0008] A load device, including a second frame, a second clamping mechanism and a climbing driven mechanism. Among them, the second clamping mechanism is arranged on the second frame and is used for clamping the cable, and the climbing driven mechanism is arranged on the first frame and is used for rolling along the cable;

[0009] A repair device, arranged on the second frame and used for repairing the cable;

[0010] One or more traction devices, including a winch and a traction rope. The winch is used for winding the traction rope. Among them, one of the winch and the traction rope is connected to the first frame, and the other is connected to the second frame;

[0011] Wherein, when the first clamping mechanism clamps the cable, the second clamping mechanism does not clamp the cable, and the winch winds the towing rope to make the load device move along the cable towards the climbing device; when the first clamping mechanism does not clamp the cable, the second clamping mechanism clamps the cable, the climbing driving mechanism crawls along the cable, and the winch unwinds the towing rope.

[0012] According to some embodiments of the present invention, the winch is connected to the second frame, and the towing rope is connected to the first frame.

[0013] According to some embodiments of the present invention, the winch includes a mounting base, a power member, a reel, a transmission lead screw, a wire guiding seat and a transmission assembly. Among them, the mounting base is arranged on the first frame or the second frame, the reel is rotatably arranged on the mounting base, the power member is used to drive the reel to rotate for winding the towing rope, the transmission lead screw is rotatably arranged on the mounting base, the rotating shaft of the transmission lead screw is arranged in parallel with the rotating shaft of the reel, the wire guiding seat is slidably arranged on the mounting base and is threadedly connected with the transmission lead screw, the wire guiding seat is provided with a wire guiding hole, the towing rope is threaded through the wire guiding hole, and the power member drives the transmission lead screw to rotate through the transmission assembly.

[0014] According to some embodiments of the present invention, the climbing driving mechanism includes:

[0015] A first roller assembly, including a first bracket, a first roller and a driving member. The first bracket is rotatably connected to the first frame, the first roller is rotatably arranged on the first bracket, the first roller is rotationally adjusted through the first bracket to be tightly pressed against the cable, and the driving member is arranged on the first bracket for driving the first roller to rotate;

[0016] A second roller assembly, including a second bracket, a second roller and a damper. The second bracket is rotatably connected to the second frame, the second roller is rotatably arranged on the second bracket, the second roller is rotationally adjusted through the second bracket to be tightly pressed against the cable, and the damper is arranged on the second bracket for damping the reverse rotation of the second roller.

[0017] According to some embodiments of the present invention, the climbing driving mechanism further includes a second diameter-changing adjustment assembly, which includes:

[0018] A first adjustment lead screw, which is rotatably connected to the first frame, and the rotating shaft of the first adjustment lead screw is arranged perpendicular to the rotating shaft of the first bracket;

[0019] A first adjustment seat, which is threadedly connected to the first adjustment lead screw;

[0020] A first connecting rod, one end of which is rotatably connected to the first adjustment seat;

[0021] A first shock absorber is connected to the other end of the first connecting rod, and the first shock absorber is rotatably connected to the first bracket;

[0022] a second connecting rod, one end of which is rotatably connected to the first adjusting seat, and the first connecting rod and the second connecting rod are symmetrically arranged with respect to the first adjusting screw rod;

[0023] The second shock absorber is connected to the other end of the second connecting rod, the second shock absorber is rotatably connected to the second bracket, and the first shock absorber and the second shock absorber are symmetrically arranged about the first adjusting screw rod.

[0024] According to some embodiments of the present utility model, the climbing driven mechanism comprises:

[0025] A mounting bracket, disposed on the second frame;

[0026] One or more roller assemblies, each of which includes a second adjustment seat, a third bracket, a third roller and an elastic member, wherein the second adjustment seat is adjustably arranged on the mounting bracket along a direction perpendicular to the cable, the third bracket is slidably arranged on the second adjustment seat along a direction perpendicular to the cable, the elastic member is abutted against the second adjustment seat and the third bracket, the third roller is rotatably connected to the third bracket, and the elastic member is used to keep the third roller pressed against the cable.

[0027] According to some embodiments of the present utility model, the climbing follower mechanism further includes a second variable diameter adjustment component, which includes:

[0028] A rotating rod, rotatably connected to the mounting bracket;

[0029] There are an equal number of linkage components with the roller components, and the two are connected one by one. The linkage component includes a second adjusting screw and a linkage structure, wherein the second adjusting screw is rotatably connected to the mounting bracket, the second adjusting seat is threadedly connected to the second adjusting screw, the linkage structure is transmission-connected to the rotating rod and the second adjusting screw, and the rotating rod drives the second adjusting screw to rotate through the linkage structure.

[0030] According to some embodiments of the present invention, the repair device comprises:

[0031] A multi-axis robotic arm, wherein the end of the multi-axis robotic arm has a driving module;

[0032] The execution end includes an installation chassis and multiple execution modules. Among them, the drive module is connected to the installation chassis, and the multiple execution modules are arranged in sequence around the installation chassis. The drive module is used to drive the installation chassis to rotate circumferentially to switch the execution modules.

[0033] According to some embodiments of the present invention, at least one of the execution modules is a repair mechanism. The repair mechanism includes a repair body, a feeding motor, a heating module, and a heat dissipation module. Among them, the repair body is arranged on the installation chassis, the feeding motor is arranged on the repair body and is used to input repair materials into the repair body, the heating module is arranged on the repair body and is used to heat the repair materials in the repair body, and the heat dissipation module is arranged on the repair body and is used to dissipate heat from the repair body.

[0034] According to some embodiments of the present invention, the climbing device further includes a detection camera. The detection camera is arranged on the first frame and is used to detect defects in the cable. The repair device repairs the defects in the cable based on the detection results of the detection camera.

[0035] From the above technical solutions, it can be seen that the embodiments of the present application have the following advantages: During the forward crawling process of the climbing device, the load device is fixed relative to the cable by using the second clamping mechanism. Thus, the climbing device does not need to bear the weight of the load device and the repair device, and the climbing device can stably crawl forward along the cable without the risk of falling off. Similarly, during the forward crawling process of the load device, the climbing device is fixed relative to the cable by using the first clamping mechanism. Thus, the climbing device can stably pull the load device and the repair device forward by using the towing rope to meet the requirement that the load device can carry a relatively heavy repair device, so as to meet the functional requirements of the repair device.

[0036] In addition, the load device only uses the winch to wind the towing rope, thereby pulling the load device and the repair device to crawl forward along the cable. It can be seen that the overall structure of the collaborative maintenance robot is simple, the manufacturing cost is low, and it is convenient for the climbing device and the load device to perform repairs separately. Description of the Drawings

[0037] Figure 1 It is a schematic diagram of the overall structure of the collaborative maintenance robot according to the embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the structure of the winch according to the embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of the overall structure of the climbing device according to the embodiment of the present invention;

[0040] Figure 4Schematic diagram of the overall structure of the climbing active mechanism according to an embodiment of the present utility model;

[0041] Figure 5 Schematic diagram of the structure of the first clamping mechanism according to an embodiment of the present utility model;

[0042] Figure 6 Schematic diagram of the structures of the load device and the repair device according to an embodiment of the present utility model;

[0043] Figure 7 Schematic diagram of the overall structure of the climbing driven mechanism according to an embodiment of the present utility model;

[0044] Figure 8 Schematic diagram of the structure of the second clamping mechanism according to an embodiment of the present utility model;

[0045] Figure 9 Schematic diagram of the structure of the repair device according to an embodiment of the present utility model;

[0046] Figure 10 Schematic diagram of the structure of the execution end according to an embodiment of the present utility model.

[0047] Among them, the meanings of the reference numerals are as follows:

[0048] 10. Cable; 100. Climbing device; 110. First frame; 120. First clamping mechanism; 121. First clamping member; 1211. Lifting lug; 122. First driving module; 130. Climbing driving mechanism; 131. First roller assembly; 1311. First bracket; 1312. First roller; 1313. Driving member; 132. Second roller assembly; 1321. Second bracket; 1322. Second roller; 1323. Damper; 133. First diameter-changing adjustment assembly; 1331. First adjustment screw rod; 1332. First adjustment seat; 1333. First operating handle; 1334. First connecting rod; 1335. First shock absorber; 1336. Second connecting rod; 1337. Second shock absorber; 140. Detection camera; 200. Load device; 210. Second frame; 220. Second clamping mechanism; 221. Second clamping member; 222. Second driving module; 230. Climbing driven mechanism; 231. Mounting bracket; 232. Roller assembly; 2321. Second adjustment seat; 2322. Third bracket; 2323. Third roller; 2324. Elastic member; 233. Second diameter-changing adjustment assembly; 2331. Rotating rod; 2332. Linkage assembly; 2333. Second adjustment screw rod; 2334. Linkage structure; 2335. Second control handle; 300. Repair device; 310. Multi-axis robotic arm; 311. Driving module; 320. Execution end; 321. Mounting chassis; 322. Monitoring camera; 323. 3D scanning camera; 324. Grinding mechanism; 325. Rotary cleaning mechanism; 326. Pneumatic cleaning mechanism; 327. Repair mechanism; 3271. Repair body; 32711. Feeding inlet; 32712. Repair nozzle; 3272. Feeding motor; 3273. Heating module; 3274. Heat dissipation module; 400. Traction device; 410. Winch; 411. Mounting base; 412. Power component; 413. Reel; 414. Encoder; 415. Transmission screw rod; 416. Wire seat; 4161. Wire hole; 417. Transmission assembly; 420. Traction rope. Detailed implementation mode

[0049] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0050] In the description of the present utility model, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, upper, lower, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0051] In the description of the present utility model, the meaning of several is more than one, and the meaning of multiple is more than two. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0052] In the description of the present utility model, unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present utility model in combination with the specific content of the technical solution.

[0053] In the description of the present utility model, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0054] The following further describes the present utility model in detail with reference to the drawings.

[0055] Please refer to Figure 1, a collaborative maintenance robot provided by an embodiment of the present invention, includes a climbing device 100, a load device 200, a repair device 300, and one or more traction devices 400. Among them, the climbing device 100 includes a first frame 110, a first clamping mechanism 120, and a climbing driving mechanism 130. The first clamping mechanism 120 is disposed on the first frame 110 and is used for clamping the cable 10. A plurality of climbing driving mechanisms 130 are provided and are located around the cable 10. Each climbing driving mechanism 130 is disposed on the first frame 110 and is used for actively crawling along the cable 10. The load device 200 includes a second frame 210, a second clamping mechanism 220, and a climbing driven mechanism 230. The second clamping mechanism 220 is disposed on the second frame 210 and is used for clamping the cable 10. A plurality of climbing driven mechanisms 230 are provided and are located around the cable 10. Each climbing driven mechanism 230 is disposed on the first frame 110 and is used for moving along the cable 10. The repair device 300 is disposed on the second frame 210 and is used for repairing the cable 10. One or more traction devices 400 include a winch 410 and a traction rope 420. The winch 410 is used for winding the traction rope 420. Among them, one of the winch 410 and the traction rope 420 is connected to the first frame 110, and the other is connected to the second frame 210. When the first clamping mechanism 120 clamps the cable 10, the second clamping mechanism 220 does not clamp the cable 10, and the winch 410 winds the traction rope 420 to make the load device 200 move along the cable 10 toward the climbing device 100. When the first clamping mechanism 120 does not clamp the cable 10, the second clamping mechanism 220 clamps the cable 10, the climbing driving mechanism 130 crawls along the cable 10, and the winch 410 pays out the traction rope 420.

[0056] Among them, one or more traction devices 400 are provided. If a plurality of traction devices 400 are provided, the plurality of traction devices 400 are distributed around the cable 10.

[0057] Specifically, in the first climbing stage, the first clamping mechanism 120 is not in a clamped state with respect to the cable 10, and the second clamping mechanism 220 is in a clamped state with respect to the cable 10, that is, the load device 200 is fixed with respect to the cable 10. The climbing driving mechanism 130 crawls forward along the extending direction of the cable 10. Correspondingly, the climbing device 100 crawls forward along the extending direction of the cable 10. Among them, the winch 410 pays out the towing rope 420 to satisfy the forward crawling of the climbing device 100. In the second climbing stage, the first clamping mechanism 120 is in a clamped state with respect to the cable 10, that is, the climbing device 100 is fixed with respect to the cable 10, and the second clamping mechanism 220 is not in a clamped state with respect to the cable 10. The winch 410 winds up the towing rope 420. Correspondingly, the climbing device 100 pulls the load device 200 forward through the towing rope 420, and the climbing driven mechanism 230 moves forward along the cable 10, and the repair device 300 moves forward synchronously with the load device 200, so as to repair the cable 10. By circulating the above first climbing stage and the second climbing stage, the cooperative maintenance machine gradually crawls along the extending direction of the cable 10, and the repair device 300 gradually repairs the cable 10.

[0058] It can be understood that during the forward crawling process of the climbing device 100, the load device 200 is fixed with respect to the cable 10 by using the second clamping mechanism 220. Thus, the climbing device 100 does not need to bear the weights of the load device 200 and the repair device 300. The climbing device 100 can stably crawl forward along the cable 10 without the risk of falling off. Similarly, during the forward crawling process of the load device 200, the climbing device 100 is fixed with respect to the cable 10 by using the first clamping mechanism 120. Thus, the climbing device 100 can stably pull the load device 200 and the repair device 300 forward through the towing rope 420 to satisfy that the load device 200 can carry the relatively heavy repair device 300, so as to meet the functional requirements of the repair device 300.

[0059] In addition, the load device 200 only uses the winch 410 to wind up the towing rope 420, thereby pulling the load device 200 and the repair device 300 to crawl forward along the cable 10. It can be seen that the overall structure of the cooperative maintenance robot is simple, the manufacturing cost is low, and it is convenient for the climbing device 100 and the load device 200 to perform repairs separately.

[0060] In some embodiments, referring to Figure 1 , the winch 410 is connected to the second frame 210, and the towing rope 420 is connected to the first frame 110. More precisely, the palm of the first clamping mechanism 120 is provided with a lug 1211, and the towing rope 420 is connected to the lug 1211 to be connected to the first frame 110.

[0061] It can be understood that the winch 410 is arranged on the load device 200. When the climbing device 100 crawls forward along the cable 10, the climbing device 100 does not need to bear the weight of the winch 410, so as to ensure that the climbing driving mechanism 130 of the climbing device 100 can crawl forward stably along the cable 10 without the risk of falling off.

[0062] Of course, the winch 410 can also be arranged on the first frame 110, and the towing rope 420 is connected to the second frame 210.

[0063] In some embodiments, referring to Figure 1 And Figure 2 , the winch 410 includes a mounting base 411, a power component 412, a reel 413 and an encoder 414. Among them, the mounting base 411 is arranged on the first frame 110 or the second frame 210, the reel 413 is rotatably arranged on the mounting base 411, and the towing rope 420 is used to wind around the reel 413. The power component 412 can adopt a servo motor. The power component 412 is horizontally fixedly connected to the mounting base 411, and the drive shaft of the power component 412 is in transmission connection with one end of the rotating shaft of the reel 413 through a transmission belt. Thus, the power component 412 drives the reel 413 to rotate, so as to wind or unwind the towing rope 420. The encoder 414 is connected to the other end of the rotating shaft of the reel 413, and is used to detect the rotation condition of the reel 413, so as to determine the winding condition of the reel 413 for the towing rope 420, and further determine the rising height of the repair device 300, so as to facilitate the repair device 300 to accurately repair the surface of the cable 10.

[0064] Furthermore, the winch 410 further includes a transmission lead screw 415, a wire guide seat 416 and a transmission assembly 417. Among them, the transmission lead screw 415 is arranged on one side of the reel 413 and is rotatably connected to the mounting base 411, and the central axis of the transmission lead screw 415 is arranged parallel to the rotating shaft of the reel 413. One end of the transmission lead screw 415 is in transmission connection with the rotating shaft of the reel 413 through the transmission assembly 417, where the transmission assembly 417 can be a gear assembly or a transmission belt assembly. The wire guide seat 416 is slidably arranged on the mounting base 411 and is in threaded connection with the transmission lead screw 415. The wire guide seat 416 is provided with a wire guide hole 4161, and the towing rope 420 passes through the wire guide hole 4161 to wind around the wire guide seat 416, and the power component 412 drives the transmission lead screw 415 to rotate through the transmission assembly 417.

[0065] Specifically, the power member 412 drives the reel 413 to rotate, and the reel 413 winds up the towing rope 420; at the same time, the power member 412 drives the transmission lead screw 415 to rotate through the transmission assembly 417, and the transmission lead screw 415 drives the wire seat 416 to slide along its axial direction, so that the towing rope 420 is gradually wound from one end of the reel 413 to the other end of the reel 413, thereby ensuring that the winch 410 winds up the towing rope 420 neatly.

[0066] Of course, compared with sharing a single power member 412, another power member 412 can also be used to drive the transmission lead screw 415 to rotate to drive the wire seat 416 to slide.

[0067] In some embodiments, referring to Figure 3 and Figure 4 , a plurality of climbing active mechanisms 130 are provided and distributed around the cable 10. Each climbing active mechanism 130 includes a first roller assembly 131 and a second roller assembly 132. Among them, the first roller assembly 131 includes a first bracket 1311, a first roller 1312 and a driving member 1313. The first bracket 1311 is rotatably connected to the first frame 110, the first roller 1312 is rotatably arranged on the first bracket 1311, and the first roller 1312 is rotationally adjusted through the first bracket 1311 to tightly press on the cable 10. The driving member 1313 is a servo motor, and the driving member 1313 is arranged on the first bracket 1311 for driving the first roller 1312 to rotate; the second roller assembly 132 includes a second bracket 1321, a second roller 1322 and a damper 1323. The second bracket 1321 is rotatably connected to the first frame 110, the second roller 1322 is rotatably arranged on the second bracket 1321, the second roller 1322 is rotationally adjusted through the second bracket 1321 to tightly press on the cable 10, and the damper 1323 is arranged on the second bracket 1321 for damping the reverse rotation of the second roller 1322. Of course, one of the dampers 1323 can also be replaced with an encoder for detecting the rolling condition of the corresponding second roller 1322, so as to determine the upward climbing distance of the climbing device 100.

[0068] Specifically, the first roller 1312 is tightly pressed against the side wall of the cable 10 through the rotation of the first bracket 1311. The driving member 1313 drives the first roller 1312 to rotate, and the first roller 1312 rolls forward along the cable 10, so that the climbing device 100 crawls forward along the cable 10. At the same time, the second roller 1322 is tightly pressed against the side wall of the cable 10 through the rotation of the second bracket 1321, and the second roller 1322 rolls forward along the cable 10 synchronously with the first roller 1312. When the driving member 1313 malfunctions, the damper 1323 restricts the reverse resistance of the second roller 1322, thereby providing a large enough frictional resistance for the climbing device 100 to prevent the climbing device 100 from falling quickly.

[0069] Further, the climbing active mechanism 130 further includes a first diameter-changing adjusting component 133 for simultaneously adjusting the pressing forces of the first roller 1312 and the second roller 1322 on the cable 10. Specifically, the first diameter-changing adjusting component 133 includes a first adjusting screw rod 1331, a first adjusting seat 1332, a first connecting rod 1334, a first shock absorber 1335, a second connecting rod 1336 and a second shock absorber 1337. Among them, the first adjusting screw rod 1331 is rotatably connected to the first frame 110, and the rotation axis of the first adjusting screw rod 1331 is vertically arranged with respect to the rotation axis of the first bracket 1311. More precisely, the first adjusting screw rod 1331 is substantially perpendicular to the cable 10. A first operation handle 1333 is provided at the outer end of the first adjusting screw rod 1331 to facilitate the staff to rotate and adjust the first adjusting screw rod 1331; the first adjusting seat 1332 is threadedly connected to the first adjusting screw rod 1331. One end of the first connecting rod 1334 is rotatably connected to the upper end of the first adjusting seat 1332, one end of the first shock absorber 1335 is fixedly connected to the other end of the first connecting rod 1334, and the other end of the first shock absorber 1335 is rotatably connected to the middle position of the first bracket 1311. Similarly, one end of the second connecting rod 1336 is rotatably connected to the lower end of the first adjusting seat 1332, and the first connecting rod 1334 and the second connecting rod 1336 are symmetrically arranged with respect to the first adjusting screw rod 1331; one end of the second shock absorber 1337 is fixedly connected to the other end of the second connecting rod 1336, and the other end of the second shock absorber 1337 is rotatably connected to the middle position of the second bracket 1321. The first shock absorber 1335 and the second shock absorber 1337 are symmetrically arranged with respect to the first adjusting screw rod 1331.

[0070] Specifically, when it is necessary to adjust the pressing force of the first roller 1312 and the second roller 1322 on the cable 10, the operator rotates the first adjusting screw rod 1331 through the first operation handle 1333. The first adjusting screw rod 1331 drives the first adjusting seat 1332 to move away from the cable 10. The first adjusting seat 1332 pushes the first bracket 1311 to rotate towards the cable 10 through the first connecting rod 1334 and the first shock absorber 1335, so that the first roller 1312 is tightly pressed on the cable 10. Synchronously, the first adjusting seat 1332 pushes the second bracket 1321 to rotate towards the cable 10 through the second connecting rod 1336 and the second shock absorber 1337, so that the second roller 1322 is tightly pressed on the cable 10. Among them, the first connecting rod 1334 acts on the first bracket 1311 through the first shock absorber 1335. The first shock absorber 1335 has a buffering effect on the first roller 1312, thus avoiding the first roller 1312 from being overly pressed on the cable 10, and further enabling the first roller 1312 to have an obstacle avoidance effect. Similarly, the second connecting rod 1336 acts on the second bracket 1321 through the second shock absorber 1337. The second shock absorber 1337 has a buffering effect on the second roller 1322, thus avoiding the second roller 1322 from being overly pressed on the cable 10, and further enabling the second roller 1322 to have an obstacle avoidance effect.

[0071] In some embodiments, referring to Figure 3 and Figure 5 , the first clamping mechanism 120 includes two first clamping members 121 and a first driving module 122. Among them, the two first clamping members 121 are rotatably arranged on the first frame 110 around a vertical axis. The first driving module 122 is connected to the two first clamping members 121 to drive the two first clamping members 121 to clamp on the cable 10, so that the climbing device 100 is fixed on the cable 10.

[0072] In some embodiments, referring to Figure 6 and Figure 7, the climbing driven mechanism 230 includes a mounting bracket 231 and one or more roller assemblies 232. For example, the climbing driven mechanism 230 is provided with two roller assemblies 232, which are respectively arranged at the upper and lower ends of the mounting bracket 231. Among them, the mounting bracket 231 is vertically arranged on the second frame 210. Each roller assembly 232 includes a second adjusting seat 2321, a third bracket 2322, a third roller 2323 and an elastic member 2324. Among them, the second adjusting seat 2321 is adjustably arranged on the mounting bracket 231 along the direction perpendicular to the cable 10, the third bracket 2322 is adjustably arranged on the second adjusting seat 2321 along the direction perpendicular to the cable 10, the elastic member 2324 abuts against the second adjusting seat 2321 and the third bracket 2322, the third roller 2323 is rotatably connected to the third bracket 2322, and the elastic member 2324 is used to keep the third roller 2323 pressed against the cable 10.

[0073] It can be understood that the second adjusting seat 2321 is adjusted in the direction towards the cable 10, so that the third roller 2323 is firmly pressed against the cable 10, and the third roller 2323 crawls forward along the cable 10 to ensure that the load device 200 crawls forward stably along the cable 10. It can be understood that the elastic member 2324 presses the third roller 2323 against the cable 10 along the direction perpendicular to the cable 10. Compared with the first roller 1312 and the second roller 1322 rotating and pressing against the cable 10, the frictional resistance between the third roller 2323 and the cable 10 during the crawling process is effectively reduced, so as to ensure that the climbing device 100 can smoothly pull the load device 200 upward by the winding of the towing rope 420.

[0074] Furthermore, the climbing driven mechanism 230 further includes a second diameter-changing adjusting assembly 233. The second diameter-changing adjusting assembly 233 is arranged on the mounting bracket 231 and is connected to the second adjusting seats 2321 of the respective roller assemblies 232, and is used to synchronously adjust the second adjusting seats 2321 in the direction towards the cable 10 so that the third rollers 2323 are firmly pressed against the cable 10.

[0075] Specifically, the second diameter-changing adjustment component 233 includes a rotating rod 2331 and a linkage component 2332. The rotating rod 2331 is rotatably connected to the mounting bracket 231. A second control handle 2335 is provided at the top of the rotating rod 2331. Each linkage component 2332 is connected to the rotating rod 2331. At the same time, the linkage components 2332 are provided in the same number as the roller components 232, and the two are connected one by one. Among them, the linkage component 2332 includes a second adjustment screw rod 2333 and a linkage structure 2334. The second adjustment screw rod 2333 is rotatably connected to the mounting bracket 231. The second adjustment seat 2321 is threadedly connected to the second adjustment screw rod 2333. The linkage structure 2334 is drivingly connected to the rotating rod 2331 and the second adjustment screw rod 2333. The rotating rod 2331 drives the second adjustment screw rod 2333 to rotate through the linkage structure 2334. Among them, the linkage structure 2334 can be a worm and gear structure or a gear assembly, which is not limited in this application.

[0076] During the specific working process, the staff manipulates the rotating rod 2331 to rotate through the second control handle 2335. The rotating rod 2331 drives each second adjustment screw rod 2333 to rotate through the linkage structure 2334. Each second adjustment screw rod 2333 drives the second adjustment seat 2321 to move towards the cable 10, so that the third roller 2323 is firmly pressed against the cable 10.

[0077] In some embodiments, referring to Figure 6 and Figure 8 , the second clamping mechanism 220 includes two second clamping members 221 and a second driving module 222. Among them, the two second clamping members 221 are rotatably arranged on the second frame 210 around a vertical axis. The second driving module 222 is connected to the two second clamping members 221 to drive the two second clamping members 221 to clamp on the cable 10, so as to fix the load device 200 on the cable 10.

[0078] In some embodiments, referring to Figure 6 , Figure 9 and Figure 10 , the repair device 300 includes a multi-axis robotic arm 310 and an execution end 320. Among them, the end of the multi-axis robotic arm 310 has a driving module 311. The execution end 320 includes a mounting chassis 321 and a plurality of execution modules. Among them, the driving module 311 is connected to the mounting chassis 321. The plurality of execution modules are arranged in sequence around the mounting chassis 321. The driving module 311 is used to drive the mounting chassis 321 to rotate so as to be able to switch the execution modules.

[0079] It can be understood that when the repair device 300 repairs the cable 10, the multi-axis robotic arm 310 can adjust the position of the execution end 320 with multiple degrees of freedom, so that the execution end 320 is aligned with the cable 10. At the same time, the driving module 311 drives the installation chassis 321 to rotate, and the execution module of the installation chassis 321 can be switched to the working position to be able to grind, clean, repair, etc. the cable 10.

[0080] Furthermore, there are multiple execution modules, which are respectively a monitoring camera 322, a three-dimensional scanning camera 323, a grinding mechanism 324, a rotary cleaning mechanism 325, a pneumatic cleaning mechanism 326 and a repair mechanism 327.

[0081] Specifically, in the first stage, the three-dimensional scanning camera 323 consists of structured light + high-resolution color cameras. It performs three-dimensional reconstruction on the cable 10 according to the defect position, type and other information detected by the detection camera 140 on the climbing device 100 by using the structured light + high-resolution color camera method, obtains the size information of the defect, and feeds it back to the control system to guide its automatic repair operation. In the second stage, the grinding mechanism 324 uses a high-speed grinder + grinding head to grind the surface of the cable 10. In the third stage, the rotary cleaning mechanism uses a high-speed grinder + cleaning head to clean the cable 10. In the fourth stage, the pneumatic cleaning mechanism 326 uses an air pump to generate high-pressure air flow to blow and clean the cable 10. In the fifth stage, the repair mechanism 327 repairs the defect with raw materials identical to the original PE sheath material, and finally grinds and polishes the repaired part. Among them, the monitoring camera 322 is used to detect the whole process of grinding, cleaning and repairing in real time, so as to facilitate the staff to check the repair situation of the cable.

[0082] Even further, referring to Figure 9 and Figure 10 , the repair mechanism 327 includes a repair body 3271, a feeding motor 3272, a heating module 3273 and a heat dissipation module 3274. Among them, the base of the repair body 3271 is arranged on the installation chassis 321, the tail of the repair body 3271 has a feeding inlet 32711, and the head of the repair body 3271 has a repair nozzle 32712. The feeding motor 3272 is arranged on one side of the repair body 3271 and is used to feed the repair material into the repair body 3271 from the feeding inlet 32711. The heating module 3273 is arranged at the repair nozzle 32712 of the repair body 3271 and is used to heat the repair material in the repair body 3271. The heat dissipation module 3274 is arranged on the side of the repair body 3271 and is used to dissipate heat from the repair body 3271.

[0083] Specifically, the feeding motor 3272 inputs the repair material from the feeding inlet 32711 into the repair nozzle 32712 of the repair body 3271, thereby conveying the repair material to the position of the heating module 3273. The heating module 3273 heats the repair nozzle 32712, and the repair material in the repair nozzle 32712 melts into a molten state. The molten repair material is applied to the defective position of the cable 10 through the repair nozzle 32712, thereby repairing the cable 10. And during this process, the repair mechanism 327 continuously feeds the cable 10 until the defect repair is completed. The entire repair process is automatically completed by the control system controlling the multi-axis robotic arm 310.

[0084] In some embodiments, referring to Figure 1 , the climbing device 100 further includes a detection camera 140. The detection camera 140 is disposed on the first frame 110. More precisely, the detection camera 140 is disposed on the first bracket 1311. The detection camera 140 is used to detect the defects of the cable 10, and the repair device 300 repairs the defects of the cable 10 based on the detection results of the detection camera 140. Of course, the detection camera 140 can also be disposed on the load device 200.

[0085] It can be understood that the detection camera 140 is disposed on the climbing device 100. The climbing device 100 completes climbing before the load device 200, and then the load device 200 climbs. The inspection device moves forward synchronously with the load device 200. Thus, it can be seen that the detection camera 140 can pre-detect the defect condition of the cable 10 to determine the repair method of the cable 10, so as to ensure that the repair device 300 can effectively and quickly repair the cable 10 during the crawling process.

[0086] The technical means disclosed in the solution of the present utility model are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present utility model.

Claims

1. A collaborative maintenance robot, characterized in that, Comprising: A climbing device, including a first frame, a first clamping mechanism and a climbing driving mechanism. Among them, the first clamping mechanism is arranged on the first frame and is used for clamping the cable, and the climbing driving mechanism is arranged on the first frame and is used for crawling along the cable; A load device, including a second frame, a second clamping mechanism and a climbing driven mechanism. Among them, the second clamping mechanism is arranged on the second frame and is used for clamping the cable, and the climbing driven mechanism is arranged on the first frame and is used for rolling along the cable; A repair device, arranged on the second frame and used for repairing the cable; One or more traction devices, including a winch and a traction rope. The winch is used for winding the traction rope. Among them, one of the winch and the traction rope is connected to the first frame, and the other is connected to the second frame; Wherein, when the first clamping mechanism clamps the cable, the second clamping mechanism does not clamp the cable, and the winch winds the traction rope so that the load device moves along the cable towards the climbing device; when the first clamping mechanism does not clamp the cable, the second clamping mechanism clamps the cable, the climbing driving mechanism crawls along the cable, and the winch pays out the traction rope.

2. The collaborative maintenance robot according to claim 1, characterized in that, The winch is connected to the second frame, and the traction rope is connected to the first frame.

3. The collaborative maintenance robot according to claim 1, wherein, The winch includes a mounting base, a power component, a reel, a transmission lead screw, a wire guide seat and a transmission assembly. Among them, the mounting base is arranged on the first frame or the second frame, the reel is rotatably arranged on the mounting base, the power component is used for driving the reel to rotate and for winding the traction rope, the transmission lead screw is rotatably arranged on the mounting base, the axis of the transmission lead screw is parallel to the axis of the reel, the wire guide seat is slidably arranged on the mounting base and is threadedly connected to the transmission lead screw, the wire guide seat is provided with a wire guide hole, the traction rope passes through the wire guide hole, and the power component drives the transmission lead screw to rotate through the transmission assembly.

4. The collaborative maintenance robot according to claim 1, wherein The climbing driving mechanism includes: A first roller assembly, including a first bracket, a first roller and a driving component. The first bracket is rotatably connected to the first frame, the first roller is rotatably arranged on the first bracket, the first roller is rotationally adjusted through the first bracket to tightly press on the cable, and the driving component is arranged on the first bracket and is used for driving the first roller to rotate; A second roller assembly, including a second bracket, a second roller and a damper. The second bracket is rotatably connected to the second frame, the second roller is rotatably arranged on the second bracket, the second roller is rotationally adjusted through the second bracket to tightly press on the cable, and the damper is arranged on the second bracket and is used for damping the reverse rotation of the second roller.

5. The collaborative maintenance robot according to claim 4, wherein The climbing driving mechanism further includes a second diameter-changing adjustment assembly, which includes: A first adjustment lead screw, rotatably connected to the first frame, and the axis of the first adjustment lead screw is perpendicular to the axis of the first bracket; A first adjustment seat, threadedly connected to the first adjustment lead screw; The first connecting rod, one end of the first connecting rod is rotatably connected to the first adjusting seat; The first shock absorber, which is connected to the other end of the first connecting rod, and the first shock absorber is rotatably connected to the first bracket; The second connecting rod, one end of the second connecting rod is rotatably connected to the first adjusting seat, and the first connecting rod and the second connecting rod are symmetrically arranged with respect to the first adjusting screw rod; The second shock absorber, which is connected to the other end of the second connecting rod, and the second shock absorber is rotatably connected to the second bracket, and the first shock absorber and the second shock absorber are symmetrically arranged with respect to the first adjusting screw rod.

6. The collaborative maintenance robot according to claim 1, wherein, The climbing driven mechanism includes: The mounting bracket is arranged on the second frame; One or more roller assemblies, each roller assembly includes a second adjusting seat, a third bracket, a third roller and an elastic member. Wherein, the second adjusting seat is adjustably arranged on the mounting bracket along a direction perpendicular to the cable, the third bracket is slidably arranged on the second adjusting seat along a direction perpendicular to the cable, the elastic member abuts against the second adjusting seat and the third bracket, the third roller is rotatably connected to the third bracket, and the elastic member is used to keep the third roller pressed against the cable.

7. The collaborative maintenance robot according to claim 6, wherein, The climbing driven mechanism further includes a second variable diameter adjusting assembly, which includes: The rotating rod is rotatably connected to the mounting bracket; The same number of linkage assemblies as the roller assemblies, and the two are connected one by one. The linkage assembly includes a second adjusting screw rod and a linkage structure. Wherein, the second adjusting screw rod is rotatably connected to the mounting bracket, the second adjusting seat is threadedly connected to the second adjusting screw rod, the linkage structure is in transmission connection with the rotating rod and the second adjusting screw rod, and the rotating rod drives the second adjusting screw rod to rotate through the linkage structure.

8. The collaborative maintenance robot according to claim 1, characterized in that, The repair device includes: The multi-axis robotic arm, the end of the multi-axis robotic arm has a driving module; The execution end includes a mounting chassis and a plurality of execution modules. Wherein, the driving module is connected to the mounting chassis, and the plurality of execution modules are sequentially arranged around the mounting chassis. The driving module is used to drive the mounting chassis to rotate circumferentially to switch the execution modules.

9. The collaborative maintenance robot according to claim 8, wherein, At least one of the execution modules is a repair mechanism. The repair mechanism includes a repair body, a feeding motor, a heating module and a heat dissipation module. Wherein, the repair body is arranged on the mounting chassis, the feeding motor is arranged on the repair body and is used to input the repair material into the repair body, the heating module is arranged on the repair body and is used to heat the repair material in the repair body, and the heat dissipation module is arranged on the repair body and is used to dissipate heat from the repair body.

10. The collaborative maintenance robot according to claim 1, wherein, The climbing device further includes a detection camera, the detection camera is arranged on the first frame and is used to detect the defects of the cable, and the repair device repairs the defects of the cable based on the detection results of the detection camera.

Images