Self-adaptive cable detection and maintenance robot

Abstract

The utility model discloses a self-adaptive cable detection and maintenance robot which comprises a main body frame, a roller climbing machine, a cable detection device, an oil injection maintenance mechanism, a deicing mechanism and an energy supply system. The main body frame surrounds the cable and is composed of a frame A and a frame B which are connected through a single-degree-of-freedom rotating hinge. The robot is provided with a roller climbing machine which can surround the cable and drive the main body frame to move. The internal cable detection device and the external cable detection device are arranged inside and outside the main frame respectively, the oil injection maintenance mechanism is located on the lower portion of the frame, and the deicing mechanism is located at the upper end of the frame and provided with a self-adaptive annular cutter. The energy supply system provides various power interfaces, and the controller has a wireless communication function and is connected with each module. An obstacle avoidance sensor and a frame lower end support are further included. The device has the effects of being capable of adapting to large-range cable diameters and dragging high-load carriers or equipment, and is suitable for detection and maintenance of cylindrical rod pieces.

Description

Technical Field

[0001] The utility model belongs to the technical field of cable inspection and maintenance, and in particular relates to an adaptive cable inspection and maintenance robot. Background Art

[0002] Cable-stayed bridges are widely used in bridge engineering due to their strong spanning capacity, elegant structure, and significant economic benefits. As the core load-bearing component of cable-stayed bridges, cables are constantly exposed to the elements and are susceptible to adverse factors such as corrosion and fatigue cracking, which threaten the structural integrity and safety of the cable wires. To ensure the safety and performance of bridges, regular cable inspection and effective maintenance are essential to extend their service life and ensure the long-term reliable operation of the bridge.

[0003] In recent years, cable inspection and repair robot technology has made significant progress, gradually developing a variety of mechanical structures, including wheeled, peristaltic, spiral, and suction-based ones. Wheeled structures are widely used due to their advantages such as continuity, high efficiency, and easy controllability. Currently, cable-climbing robots mostly use a fixed, enclosed wheeled clamping mechanism. These mechanisms offer continuous movement, reliable operation, high efficiency, high speed, and convenient operation, making them the mainstream choice. However, the stable operation of wheeled clamping mechanisms depends on good contact between the drive wheel and the cable surface. In practical applications, the drive wheel and the cable surface are typically in point or line contact, with a limited contact area. This makes the robot prone to slippage or spin during climbing, and it cannot generate sufficient friction to climb with load. Furthermore, this structure has limited adaptability to cable diameters, making it difficult to achieve full coverage inspection even when cable diameters vary widely. When the robot is mounted on the cable, multiple adjustments are often required to achieve a relatively centered position. This increases the complexity and weight of the adjustment mechanism, reduces operational flexibility, and limits its load-bearing capacity. Utility Model Content

[0004] The main purpose of this utility model is to provide an adaptive cable detection and maintenance robot. The specific technical solution is as follows:

[0005] An adaptive cable inspection and maintenance robot, comprising a main frame, a roller climber, a cable inspection device, an oil injection maintenance mechanism, a de-icing mechanism, and an energy supply system;

[0006] The main frame is arranged around the outside of the cable;

[0007] The roller climbers are provided in multiple groups, and the roller climbers are arranged around the cables and installed on the main frame. The roller climbers press the cables to drive the main frame to run on the cables.

[0008] The cable detection device includes a cable internal detection device and a cable external detection device;

[0009] The cable internal detection device is arranged and surrounds the inside of the main frame; the cable external detection device is arranged and surrounds the outside of the main frame;

[0010] The oil spray maintenance mechanism is arranged at the lower part of the main frame and surrounds the main frame;

[0011] The de-icing mechanism is arranged inside the upper end of the main frame and surrounds the cable;

[0012] The energy supply system is arranged outside the main frame and connected to each mechanism;

[0013] The main frame is in the shape of a hexagonal prism and includes a frame A and a frame B; a plurality of roller climbers are fixedly mounted on the frame A and the frame B respectively, and a controller is fixedly mounted on the outside of the frame A;

[0014] The roller climber is provided with an electric-controlled retractor, with rollers at both ends, and the electric-controlled retractor provides power for the rollers to press against the cable to achieve climbing on the cable;

[0015] The cable internal detection device is divided into a cable internal detection device A and a cable internal detection device B; the cable internal detection device A is installed inside the frame A, and the cable internal detection device B is installed inside the frame B. When the frame A and the frame B are combined, the internal cable internal detection device A and the internal cable internal detection device B wrap around the cable to detect internal damage of the cable;

[0016] The cable external detection device is composed of an adjustable mounting bracket and a camera, and the camera is mounted on the top of the adjustable mounting bracket;

[0017] The oil injection maintenance mechanism includes an air pump, an oil injection pipeline and an oil tank. The oil injection pipeline is installed at the lower part of the main frame and surrounds the lower edge of the main frame. The oil injection pipeline is provided with an oil injection hole facing inward.

[0018] The oil tank is integrated with an air pump and is installed outside the frame B of the main frame to carry the maintenance oil of the cable;

[0019] The oil tank is connected to the oil injection pipeline, and the maintenance oil is sprayed toward the cable through the oil injection pipeline to achieve cable maintenance;

[0020] The de-icing mechanism is composed of an annular blade, a support frame and a driving wheel. The annular blade is opened in half and covered with a cable. The driving wheel is installed on the support frame, and the driving wheel clamps the annular blade and gives the annular blade rotational power.

[0021] The deicing mechanism is respectively installed on the upper part of frame A and frame B through a support frame.

[0022] The preferred embodiment of the adaptive cable inspection and maintenance robot is that the camera can rotate and is aimed at the cable to achieve high-precision external inspection of the cable.

[0023] A preferred embodiment of the adaptive cable inspection and maintenance robot is that the annular knife can be adaptively adjusted according to the diameter of the cable to remove floating ice attached to the cable.

[0024] The preferred embodiment of the adaptive cable inspection and maintenance robot is that frame A and frame B in the main frame are connected by a single-degree-of-freedom rotation hinge, and the main frame also has an openable mounting buckle, which is placed diagonally to the single-degree-of-freedom rotation hinge.

[0025] The preferred embodiment of the adaptive cable inspection and maintenance robot is that the robot is also provided with a controller with wireless communication function, which is fixedly mounted on the outside of frame A of the main frame; the roller climber, cable inspection device, oil injection maintenance mechanism, de-icing mechanism and energy supply system of the main frame are connected to the controller.

[0026] A preferred solution of the adaptive cable detection and maintenance robot is that the energy supply system has multiple power supply interfaces.

[0027] A preferred embodiment of the adaptive cable detection and maintenance robot is that an obstacle avoidance sensor is provided at the upper end of the outer side of frame A of the main frame.

[0028] The preferred solution of the adaptive cable inspection and maintenance robot is that three brackets are distributed along the outer wall of the main frame to support the robot to stand.

[0029] Beneficial effects

[0030] Compared with the existing technology, the utility model can integrate multiple functions of conventional cable robots, enable a single robot to complete multiple tasks, and realize efficient operation.

[0031] The utility model has the effect of being able to adapt to a wide range of cable diameters and towing high-load carriers or equipment, and is suitable for the detection and maintenance of cylindrical rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of an adaptive cable inspection and maintenance robot;

[0033] Figure 2 This is the main view of an adaptive cable inspection and maintenance robot;

[0034] Figure 3 This is a schematic diagram of the open structure of an adaptive cable inspection and maintenance robot;

[0035] Figure 4 Schematic diagram of the structure of the main frame connection parts;

[0036] Figure 5 This is a schematic diagram of the structure of the cable external detection device;

[0037] Figure 6 Schematic diagram of the de-icing device structure.

[0038] Among them, 1. Main frame; 11. Frame A; 12. Frame B; 13. Single-degree-of-freedom rotation hinge; 14. Mounting buckle; 15. Controller; 16. Obstacle avoidance sensor; 17. Bracket; 2. Roller climber; 21. Roller; 22. Electric-controlled retractor; 311. Cable internal detection device A; 312. Cable internal detection device B; 32. Cable external detection device; 321. Adjustable mounting bracket; 322. Camera; 4. Oil injection maintenance mechanism; 41. Fuel tank; 42. Oil injection pipeline; 5. De-icing mechanism; 51. Annular knife; 52. Support frame; 53. Drive wheel; 6. Energy supply system; 7. Cable. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] like Figure 1-6 As shown, an adaptive cable inspection and maintenance robot includes a main frame 1, a roller climber 2, a cable inspection device, an oil injection maintenance mechanism 4, a deicing mechanism 5 and an energy supply system 6;

[0041] The main frame 1 is arranged around the outside of the cable;

[0042] The roller climbers 2 are provided in multiple groups, and the multiple groups of roller climbers 2 are arranged around the cable 7 and installed on the main frame 1. The roller climbers 2 press the cable to drive the main frame 1 to run on the cable 7;

[0043] The cable detection device includes a cable internal detection device and a cable external detection device 32;

[0044] The cable internal detection device is arranged and surrounds the inside of the main frame 1; the cable external detection device 32 is arranged and surrounds the outside of the main frame 1;

[0045] The oil spray maintenance mechanism 4 is arranged at the lower part of the main frame 1 and surrounds the main frame;

[0046] The de-icing mechanism 5 is arranged inside the upper end of the main frame 1 and surrounds the cable 7;

[0047] The energy supply system 6 is arranged outside the main frame and is connected to each mechanism for power supply;

[0048] The main frame 1 is in the shape of a hexagonal prism and includes a frame A11 and a frame B12; a plurality of roller climbers 2 are fixedly mounted on the frame A11 and the frame B12, respectively, and a controller 15 is fixedly mounted on the outside of the frame A11;

[0049] The roller climber 2 is provided with an electric-controlled retractor 22, with rollers 21 at both ends. The electric-controlled retractor 22 provides power for the rollers 21 to press against the cable 7, so as to achieve climbing on the cable.

[0050] The cable internal detection device is divided into a cable internal detection device A311 and a cable internal detection device B312; the cable internal detection device A311 is installed inside the frame A11, and the cable internal detection device B312 is installed inside the frame B12. When the frames A11 and B12 are combined, the internal cable internal detection devices A311 and B312 wrap around the cable 7 to detect internal damage of the cable 7;

[0051] The cable external detection device 32 is composed of an adjustable mounting bracket 321 and a camera 322 , and the camera 322 is mounted on the top of the adjustable mounting bracket 321 ;

[0052] The oil injection maintenance mechanism 4 includes an air pump, an oil injection pipeline 42 and an oil tank 41. The oil injection pipeline 42 is installed at the lower part of the main frame 1 and surrounds the lower edge of the main frame 1. The oil injection pipeline 42 is provided with an oil injection hole facing inward.

[0053] The oil tank 41 has an integrated air pump and is mounted outside the frame B12 of the main frame 1 to carry the maintenance oil of the cable 7;

[0054] The oil tank 41 is connected to the oil injection pipeline 42, and the maintenance oil is sprayed toward the cable 7 through the oil injection pipeline 42 to achieve maintenance of the cable 7;

[0055] The de-icing mechanism 5 is composed of an annular blade 51, a support frame 52 and a driving wheel 53. The annular blade 51 is opened in half and covered with a cable 7. The driving wheel 53 is mounted on the support frame 52. The driving wheel 53 clamps the annular blade 51 and provides the annular blade 51 with rotational power.

[0056] The de-icing mechanism 5 is respectively installed on the upper part of the frame A11 and the frame B12 through the support frame 52.

[0057] The camera 322 can rotate and is aimed at the cable 7 to achieve high-precision cable external detection.

[0058] The annular blade 51 can be adaptively adjusted according to the diameter of the cable 7 to remove floating ice attached to the cable 7.

[0059] The frame A11 and the frame B12 in the main frame 1 are connected by a single-degree-of-freedom rotation hinge 13 . The main frame 1 also has an openable mounting buckle 14 , which is placed diagonally to the single-degree-of-freedom rotation hinge 13 .

[0060] The robot is also provided with a controller 15 with wireless communication function, which is fixedly mounted on the outside of the frame A11 of the main frame 1; the roller climber 2, cable detection device 3, oil injection maintenance mechanism 4, deicing mechanism 5 and energy supply system 6 of the main frame 1 are connected to the controller 15.

[0061] The energy supply system 6 has multiple power supply interfaces.

[0062] An obstacle avoidance sensor 16 is provided at the upper end of the outer side of the frame A11 of the main frame 1 .

[0063] Three brackets 17 are distributed along the outer wall of the main frame 1 for supporting the robot to stand.

[0064] Unless otherwise stated, any numerical range disclosed for any technical solution disclosed in the present invention is a preferred numerical range. Those skilled in the art should understand that a preferred numerical range is merely a numerical range that provides a more significant or representative technical effect among a wide range of practicable values. Due to the large number of numerical values, it is impossible to enumerate them exhaustively. Therefore, only some numerical values are disclosed in the present invention to illustrate the technical solution of the present invention. Furthermore, the numerical values listed above should not be construed as limiting the scope of protection of the present invention.

[0065] At the same time, if the above-mentioned utility model discloses or involves components or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection, or it can be understood as: a non-detachable fixed connection. Of course, the fixed connection can also be replaced by an integrated structure.

[0066] In addition, unless otherwise stated, terms used in any of the technical solutions disclosed in the present invention to express positional relationships or shapes include states or shapes that are similar, analogous, or close to those described above. Any component provided by the present invention may be assembled from multiple separate components or may be a single component manufactured using an integrated molding process.

[0067] The above embodiments are merely examples to clearly illustrate the present invention and are not intended to limit its implementation. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary or possible to provide an exhaustive list of all embodiments. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An adaptive cable inspection and maintenance robot, characterized by: It includes a main frame (1), a roller climbing machine (2), a cable detection device, an oil spraying maintenance mechanism (4), a deicing mechanism (5) and an energy supply system (6); The main frame (1) is arranged around the outside of the cable; The roller climbers (2) are provided in multiple groups, and the multiple groups of roller climbers (2) are arranged around the cable (7) and installed on the main frame (1). The roller climbers (2) press the cable to drive the main frame (1) to run on the cable (7); The cable detection device includes a cable internal detection device and a cable external detection device (32); The cable internal detection device is arranged and surrounds the inside of the main frame (1); the cable external detection device (32) is arranged and surrounds the outside of the main frame (1); The oil spray maintenance mechanism (4) is arranged at the lower part of the main frame (1) and surrounds the main frame; The de-icing mechanism (5) is arranged inside the upper end of the main frame (1) and surrounds the cable (7); The energy supply system (6) is arranged outside the main frame and connected to each mechanism; The main frame (1) is in the shape of a hexagonal prism and includes a frame A (11) and a frame B (12); a plurality of roller climbers (2) are fixedly mounted on the frame A (11) and the frame B (12), respectively, and a controller (15) is fixedly mounted on the outside of the frame A (11); The roller climbing machine (2) is provided with an electric-controlled retractor (22), and rollers (21) are provided at both ends thereof. The electric-controlled retractor (22) provides power for the rollers (21) to press against the cable (7), so as to achieve climbing on the cable; The cable internal detection device is divided into a cable internal detection device A (311) and a cable internal detection device B (312); the cable internal detection device A (311) is installed inside the frame A (11), and the cable internal detection device B (312) is installed inside the frame B (12); when the frame A (11) and the frame B (12) are combined, the internal cable internal detection device A (311) and the internal cable internal detection device B (312) wrap around the cable (7) to realize the detection of internal damage of the cable (7); The cable external detection device (32) is composed of an adjustable mounting bracket (321) and a camera (322), and the camera (322) is mounted on the top of the adjustable mounting bracket (321); The oil injection maintenance mechanism (4) includes an air pump, an oil injection pipeline (42) and an oil tank (41). The oil injection pipeline (42) is installed at the lower part of the main frame (1) and surrounds the lower edge of the main frame (1). The oil injection pipeline (42) is provided with an oil injection hole facing inward. The oil tank (41) is integrated with an air pump and is installed outside the frame B (12) of the main frame (1) to carry the maintenance oil of the cable (7); The oil tank (41) is connected to the oil spraying pipeline (42), and the maintenance oil is sprayed toward the cable (7) through the oil spraying pipeline (42), thereby achieving maintenance of the cable (7); The deicing mechanism (5) is composed of an annular blade (51), a support frame (52) and a driving wheel (53). The annular blade (51) is opened in half and covered with a cable (7). The driving wheel (53) is installed on the support frame (52). The driving wheel (53) clamps the annular blade (51) and provides the annular blade (51) with rotational power. The deicing mechanism (5) is respectively installed on the upper parts of the frame A (11) and the frame B (12) through a support frame (52).

2. The adaptive cable detection and maintenance robot according to claim 1, characterized in that: The camera (322) is capable of rotating, and the camera (322) is aimed at the cable (7), thereby achieving high-precision cable external detection.

3. The adaptive cable detection and maintenance robot according to claim 1, characterized in that: The annular knife (51) can be adaptively adjusted according to the diameter of the cable (7) to remove floating ice attached to the cable (7).

4. The adaptive cable detection and maintenance robot according to claim 1, characterized in that: The frame A (11) and the frame B (12) in the main frame (1) are connected by a single-degree-of-freedom rotation hinge (13), and the main frame (1) also has an openable mounting buckle (14), which is placed diagonally to the single-degree-of-freedom rotation hinge (13).

5. The adaptive cable detection and maintenance robot according to claim 1, characterized in that: The robot is also provided with a controller (15) with a wireless communication function, which is fixedly mounted on the outside of the frame A (11) of the main frame (1); the roller climber (2), cable detection device (3), oil spraying maintenance mechanism (4), deicing mechanism (5) and energy supply system (6) of the main frame (1) are connected to the controller (15).

6. The adaptive cable detection and maintenance robot according to claim 1, characterized in that: The energy supply system (6) has multiple power supply interfaces.

7. The adaptive cable inspection and maintenance robot according to claim 1, characterized in that: An obstacle avoidance sensor (16) is provided at the upper end of the outer side of the frame A (11) of the main frame (1).

8. The adaptive cable inspection and maintenance robot according to claim 1, characterized in that: Three brackets (17) are distributed along the outer wall of the main frame (1) and are used to support the robot to stand.

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