Cable climbing robot capable of automatically adjusting clamping force

Abstract

The utility model relates to a cable climbing robot capable of automatically adjusting clamping force. The cable climbing robot is used for climbing and detecting stay cables such as suspension bridges and cable-stayed cables. Comprising a driving device, a driven device, a sliding rail device, a clamping force adjusting device and an electronic control device. The driving device and the driven device are located on the two sides of the inhaul cable respectively and distributed oppositely to clamp the inhaul cable. The two ends of the sliding rail device and the two ends of the clamping force adjusting device are connected with a driving device and a driven device of the robot respectively, and the sliding rail device is used for preventing dislocation between the driving device and the driven device of the robot and allowing the driving device and the driven device to move along the sliding rail so as to adapt to clamping of inhaul cables with different diameters. The clamping force adjusting device comprises a buffering device, a tension measuring device and a tension adjusting device, and the clamping force adjusting device is matched with the electronic control device, so that the robot can automatically adjust the clamping force of the inhaul cable. According to the technical scheme, the device is simple in structure, convenient to disassemble and assemble and capable of achieving effective crawling on inhaul cables with different diameters and automatic adjustment of clamping force.

Description

Technical Field

[0001] This utility model relates to a cable-climbing robot with automatic clamping force adjustment, and more particularly to a cable-climbing robot for bridge cable inspection, belonging to the field of robotics technology. Background Technology

[0002] In my country, suspension bridges and cable-stayed bridges are numerous. The cables of these bridges, as key load-bearing components, consist of numerous twisted steel wire bundles internally, typically encased in a polyethylene protective sheath. Long-term exposure to the external environment, including wind, sun, and rain, causes the outer protective sheath to age, resulting in pitting, holes, scars, and cracks. Regular inspection and maintenance of the cables are necessary to prevent further corrosion of the internal steel wire bundles, which could lead to wire breakage and major safety accidents, thus ensuring bridge safety and extending the cable's service life.

[0003] Currently, the main methods for bridge inspection include telescope observation, manual suspended platform inspection, and inspection using cable-climbing robots. Telescope observation has significant limitations due to its limited accuracy and inability to cover all areas. While manual suspended platform inspection allows for close-range checks, it requires high-altitude work equipment, which is not only expensive and time-consuming but also poses high safety risks to workers. In contrast, cable-climbing robots offer advantages such as close observation distance, on-site personnel safety, and simple operation, effectively solving various problems in cable inspection. However, due to the varying sizes of bridges and the different parameters such as cable diameter and length, and the fact that existing cable-climbing robots are generally complex in structure, heavy, inconvenient to install, and difficult to overcome obstacles during operation, there is an urgent need for a cable-climbing robot that can adapt to cables of different sizes, is lightweight, has a simple structure, is easy to install, and is easy to operate, in order to improve the efficiency and quality of bridge cable inspection and reduce the labor intensity of inspection personnel.

[0004] In view of the above, this case arises. Utility Model Content

[0005] The purpose of this invention is to provide a cable-climbing robot that is simple in structure, lightweight, easy to install, capable of crawling different bridge cables, and can automatically adjust the clamping force with the cable according to changes in cable diameter.

[0006] To achieve the above objectives, the solution of this utility model is a climbing robot with automatic clamping force adjustment, including a drive device, a driven device, a slide rail device, a clamping force adjustment device, and an electronic control device.

[0007] The driving device includes a drive end support plate, a drive end housing, a drive end bearing seat, a drive end crawling wheel assembly, a belt, a tensioning mechanism, a drive pulley, a drive motor bracket, and a drive motor. The drive end crawling wheel assembly consists of a drive shaft, a drive end hub, drive end crawling wheels, and a pulley. The drive end crawling wheels are fixed to the drive shaft via the drive end hub. Both ends of the drive shaft are mounted to the inner side of the drive end support plate via the drive end bearing seat. The pulley is mounted at one end of the drive shaft, and the two drive end crawling wheel assemblies are spaced a certain distance apart. The tensioning mechanism consists of an adjusting bolt, an adjusting bracket, a tensioning wheel, and a fixed bracket. The tensioning wheel is mounted via the adjusting bracket... Mounted on a fixed bracket, the adjusting bracket can be moved relative to the fixed bracket by adjusting the adjusting bolts on the drive end support plate, causing the tensioning wheel to move and thus tensioning the belt. The tensioning mechanism is installed on the inner side of the drive end support plate via the fixed bracket. The drive motor is mounted on the outer side of the drive end support plate via a drive motor bracket, and its output shaft is equipped with a drive pulley. A belt is installed between the drive pulley on the drive motor, the pulleys of the two drive end crawling wheel devices, and the tensioning wheel to transmit power and drive the robot's drive end crawling wheel device to rotate. The drive end housing is installed on the outer side of the drive end support plate to protect the drive motor.

[0008] The driven device includes a driven end support plate, a driven end housing, a driven end bearing seat, and a driven end crawling wheel assembly. The driven end crawling wheel assembly consists of a driven shaft, a driven end hub, and driven end crawling wheels. The driven end crawling wheels are mounted on the driven shaft via the driven end hub. Both ends of the driven shaft are mounted on the inner side of the driven end support plate via the driven end bearing seats. The two driven end crawling wheel assemblies are spaced a certain distance apart. The driven end housing is mounted on the outer side of the driven end support plate to protect the electronic control device.

[0009] The slide rail device includes an L-connector block, a slider, a slider bracket, and a slide rail. The slider bracket is mounted on the driven end support plate via the L-connector block, and the slider is mounted on the slider bracket. The slide rail is mounted on the drive end support plate via the L-connector block. The slider and the slide rail are assembled together and can slide along the slide rail direction. This device is used to connect the drive device and the driven device of the cable-climbing robot, so that the relative distance between the robot's drive device and the driven device can be changed along the slide rail direction to adapt to the clamping of cables of different diameters.

[0010] The clamping force adjusting device includes a buffer device, a tension measuring device, and a tension adjusting device. The buffer device consists of a pull rod, a spring, and a buffer seat. The buffer seat is mounted on the drive end support plate, and the spring is mounted on the pull rod. One end of the pull rod passes through a hole in the buffer seat, and the spring is fixed between the pull rod and the buffer seat through the pull rod and the buffer seat. When the distance between the pull rod and the buffer seat changes, the spring is compressed or moved by the spring tension. The tension measuring device consists of a housing, a tension sensor, a base plate, and a hook. The housing is mounted on the thread of the pull rod of the buffer device. The sensor is installed between the housing and the base plate. The housing, tension sensor, and base plate are fixed together with bolts. A hook is threaded onto the center of the tension sensor. When the hook is under tension, the tension sensor experiences a pulling force, which, through the housing of the tension measuring device, pulls the rod of the buffer device relative to the buffer seat, thereby compressing or releasing the spring. The tension adjustment device consists of a wire cover, a winding reel, a winding motor bracket, a winding motor, and a wire rope. The winding motor is mounted on the driven end support plate via the winding motor bracket, and a winding of wire is mounted on the motor shaft. The reel, with its wire cover fixed to the driven end support plate by bolts, prevents the wire rope on the reel from detaching from the groove. One end of the wire rope is fixed to the reel and wound around it. When the winding motor rotates, it drives the reel to rotate, changing the length of the wire rope in the groove. The other end of the wire rope is equipped with a locking buckle, which is connected to the hook of the tension measuring device. When the winding motor rotates, the tension measuring device is pulled by the wire rope, which in turn pulls the lever of the buffer device, and the tension sensor detects the force. The current method measures the tension force to control the clamping force of the cable-climbing robot. When the cable diameter changes, the clamping force is adjusted by the spring of the buffer device. The tension sensor detects the change in tension, and the electronic control device makes a judgment and process it. When the tension exceeds the preset maximum tension, the winding motor is controlled to reverse (assuming forward rotation is tensioning) to reduce the tension. When the tension is less than the preset minimum tension, the winding motor is controlled to rotate forward (assuming forward rotation is tensioning) to increase the tension, thereby realizing the automatic adjustment of the robot's clamping force.

[0011] The electronic control device is installed on the outside of the driven end support plate and will not be described in detail in this utility model. It is used to control the measurement of the tension of each tension sensor of the robot, the operation of the winding motor and drive motor of the tension adjustment device, to realize the adjustment of the robot clamping force and the speed and direction control of the robot drive motor, and to realize the adjustment of the robot's crawling speed and the change of crawling direction.

[0012] Furthermore, the clamping force adjustment device can measure the magnitude of the tension on it through a tension sensor, and the electronic control device can control the tension adjustment device to automatically adjust the tension between the robot drive device and the driven device according to the measured tension value. The sum of the tension is the clamping force of the robot on the cable.

[0013] Furthermore, the spring of the clamping force adjusting device provides tension between the robot drive device and the driven device, providing clamping force for the robot to the cable, and at the same time acts as a buffer spring to increase the robot's adaptability to changes in the cable diameter.

[0014] After adopting the above solution, the gain effect of this utility model is as follows:

[0015] 1. Compared with existing climbing robots, this utility model has the advantages of simple mechanical structure, small size and light weight. It is easy to install and operate in the field, and effectively reduces the labor intensity of workers.

[0016] 2. This utility model is equipped with a clamping force adjustment device, which can automatically adjust the tension to the required tension through an electronic control device. When the diameter of the cable changes, the tension will also change due to the elongation and compression of the spring. Through the detection of the tension sensor, the electronic control device can control the working state of the tension adjustment device to adapt to the crawling of different cable diameter changes, thus solving the problem that the climbing robot cannot crawl when the cable diameter changes significantly.

[0017] 3. This utility model is equipped with a clamping force adjustment device, which can automatically adjust the clamping force of the robot on the cable to the required level when the robot is installed on the cable, thereby simplifying the operation of manually adjusting the clamping force through bolts during the manual installation process.

[0018] 4. This utility model uses a slide rail device between the driving device and the driven device, which can effectively prevent misalignment between the robot driving device and the driven device, resulting in a sudden increase or decrease in tension.

[0019] 5. The clamping force adjustment device equipped in this utility model connects the robot's drive device and driven device through a steel wire rope. The lock of the steel wire rope of the tension adjustment device and the hook of the tension measuring device can be quickly connected and disassembled, simplifying the process of installing and disassembling the robot on the cable. Attached Figure Description

[0020] To more clearly demonstrate the mechanical structure of this utility model, bolts used to connect the various components in some assemblies are omitted in the illustrations.

[0021] Figure 1 This is a partial sectional view of a front view of an embodiment of the present invention.

[0022] Figure 2 This is a top partial sectional view of an embodiment of the present invention.

[0023] Figure 3 This is a perspective view of the drive device according to an embodiment of the present invention with the drive end housing removed.

[0024] Figure 4 This is a schematic diagram of a drive end crawling wheel device according to an embodiment of the present invention.

[0025] Figure 5 This is an exploded view of the tensioning mechanism according to an embodiment of the present invention.

[0026] Figure 6 This is a three-dimensional schematic diagram of the driven device of an embodiment of the present invention with the driven end housing removed.

[0027] Figure 7 This is a schematic diagram of a driven end crawling wheel device according to an embodiment of the present invention.

[0028] Figure 8 This is a three-dimensional schematic diagram of a slide rail device according to an embodiment of the present invention.

[0029] Figure 9 This is a three-dimensional schematic diagram of a clamping force adjusting device according to an embodiment of the present invention.

[0030] Figure 10 This is an exploded schematic diagram of a buffer device and a tensile force measuring device according to an embodiment of the present invention.

[0031] Figure 11 This is an exploded schematic diagram of a tension adjustment device according to an embodiment of the present invention.

[0032] In the diagram: 1. Driven device; 2. Driven device; 3. Slide rail device; 4. Clamping force adjusting device; 5. Electronic control device; 1-1. Drive end support plate; 1-2. Drive end housing; 1-3. Drive end bearing seat; 1-4. Drive end crawling wheel device; 1-5. Belt; 1-6. Tensioning mechanism; 1-7. Drive pulley; 1-8. Drive motor bracket; 1-9. Drive motor; 1-4-1. Drive end hub; 1-4-2. Drive end crawling wheel; 1-4-3. Pulley; 1-4-4. Adjusting bolt; 1-6-1. Adjusting bracket; 1-6-2. Tensioning wheel; 1-6-3. Fixed bracket; 1-6-4. Driven end support plate; 2-1. Driven end housing; 2-2. Driven end bearing seat 2-3; Driven end crawling wheel device 2-4; Driven shaft 2-4-1; Driven end hub 2-4-2; Driven end crawling wheel 2-4-3; L-connecting block 3-1; Slider 3-2; Slider bracket 3-3; Slide rail 3-4; Buffer device 4-1; Tension measuring device 4-2; Tension adjusting device 4-3; Pull rod 4-1-1; Spring 4-1-2; Buffer seat 4-1-3; Housing 4-2-1; Tension sensor 4-2-2; Base plate 4-2-3; Hook 4-2-4; Wire cover 4-3-1; Winding reel 4-3-2; Winding motor bracket 4-3-3; Winding motor 4-3-4; Wire rope 4-3-5. Detailed Implementation

[0033] To make the purpose, technical solution and advantages of this utility model patent clearer, the utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] As attached Figure 1 and 2 As shown, this utility model provides a cable-climbing robot with automatic clamping force adjustment, including a drive device 1, a driven device 2, a slide rail device 3, a clamping force adjustment device 4, and an electronic control device 5. In the working state, the drive device 1 and the driven device 2 are respectively located on both sides of the cable, forming a parallel space in the middle to clamp the cable. The two ends of the slide rail device 3 and the clamping force adjustment device 4 are respectively connected to the robot's drive device 1 and driven device 2. The slide rail device is used to maintain the relative position of the robot's drive device 1 and driven device 2, prevent misalignment between them, and allow them to move along the slide rail. The electronic control device 5 is mounted on the driven device 2.

[0035] As attached Figure 2 , 3As shown in Figures 4 and 5, the driving device 1 includes a driving end support plate 1-1, a driving end housing 1-2, a driving end bearing seat 1-3, a driving end crawling wheel device 1-4, a belt 1-5, a tensioning mechanism 1-6, a driving pulley 1-7, a driving motor bracket 1-8, and a driving motor 1-9. The driving end crawling wheel device 1-4 is composed of a driving shaft 1-4-1, a driving end hub 1-4-2, a driving end crawling wheel 1-4-3, and a pulley 1-4-4. The crawler wheel 1-4-3 is mounted on the drive shaft 1-4-1 via the drive end hub 1-4-2. Both ends of the drive shaft 1-4-1 are mounted on the inner side of the drive end support plate 1-1 via drive end bearing seats 1-3. The pulley 1-4-4 is mounted on one end of the drive shaft 1-4-1. The two drive end crawler wheel devices 1-4 are spaced a certain distance apart. The tensioning mechanism 1-6 consists of an adjusting bolt 1-6-1, an adjusting bracket 1-6-2, a tensioning wheel 1-6-3, and a fixed bracket 1-6-4. The tensioning pulley 1-6-3 is mounted on the fixed bracket 1-6-4 via the adjusting bracket 1-6-2. By adjusting the adjusting bolt 1-6-1 on the drive end support plate 1-1, the adjusting bracket 1-6-2 and the fixed bracket 1-6-4 can be moved, causing the tensioning pulley 1-6-3 to move and thus tensioning the belt 1-5. The tensioning mechanism 1-6 is mounted on the inner side of the drive end support plate 1-1 via the fixed bracket 1-6-4; the drive motor 1-9 is mounted on the drive motor bracket 1-6-4 via the drive motor support plate 1-6-4. 8 is installed on the outside of the drive end support plate 1-1. Its output shaft is equipped with a drive pulley 1-7. A belt 1-5 is installed between the drive pulley 1-7 on the motor, the pulleys 1-4-4 and tensioning wheel 1-6-3 of the two drive end crawling wheel devices 1-4, to transmit the power output by the drive motor 1-9 to each drive end crawling wheel device 1-4, thereby driving the robot to crawl. The drive end housing 1-2 is installed on the outside of the drive end support plate 1-1 to protect the drive motor 1-9.

[0036] As attached Figure 2 , 6 As shown in Figure 7, the driven device 2 includes a driven end support plate 2-1, a driven end housing 2-2, a driven end bearing seat 2-3, and a driven end crawling wheel device 2-4. The driven end crawling wheel device 2-4 consists of a driven shaft 2-4-1, a driven end hub 2-4-2, and driven end crawling wheels 2-4-3. The driven end crawling wheels 2-4-3 are mounted on the driven shaft 2-4-1 via the driven end hub 2-4-2. Both ends of the driven shaft 2-4-1 are mounted on the inner side of the driven end support plate 2-1 via the driven end bearing seat 2-3. The two driven end crawling wheel devices 2-4 are spaced a certain distance apart. The driven end housing 2-2 is mounted on the outer side of the driven end support plate 2-1 to protect the electronic control device 5.

[0037] As attached Figure 8As shown, the slide rail device 3 includes an L-connecting block 3-1, a slider 3-2, a slider bracket 3-3, and a slide rail 3-4. The slider bracket 3-3 is mounted on the driven end support plate 2-1 via the L-connecting block 3-1, and the slider 3-2 is mounted on the slider bracket 3-3. The slide rail 3-4 is mounted on the drive end support plate 1-1 via the L-connecting block 3-1. The slider 3-2 and the slide rail 3-4 are assembled together and can slide along the direction of the slide rail 3-4. This device is used to connect the drive device 1 and the driven device 2 of the cable-climbing robot together, so that the relative distance between the robot's drive device 1 and the driven device 2 can be changed along the direction of the slide rail 3-4 to adapt to the clamping of cables of different diameters.

[0038] As attached Figure 9 , 10As shown in Figure 11, the clamping force adjusting device 4 includes a buffer device 4-1, a tension measuring device 4-2, and a tension adjusting device 4-3. The buffer device 4-1 consists of a pull rod 4-1-1, a spring 4-1-2, and a buffer seat 4-1-3. The buffer seat 4-1-3 is mounted on the drive end support plate 1-1, and the spring 4-1-2 is mounted on the pull rod 4-1-1. One end of the pull rod 4-1-1 passes through the hole in the buffer seat 4-1-3, and the spring 4-1-2 is fixed between the pull rod 4-1-1 and the buffer seat 4-1-3 through the pull rod 4-1-1 and the buffer seat 4-1-3. When the pull rod 4-1... When the distance between -1 and the buffer seat 4-1-3 changes, the compression spring 4-1-2 will move under the tension of the spring 4-1-2; the tension measuring device 4-2 consists of a housing 4-2-1, a tension sensor 4-2-2, a base plate 4-2-3, and a hook 4-2-4; the housing 4-2-1 is installed on the thread of the pull rod 4-1-1 of the buffer device 4-1, the tension sensor 4-2-2 is installed between the housing 4-2-1 and the base plate 4-2-3, and the housing 4-2-1, tension sensor 4-2-2, and base plate 4-2-3 are fixed together by bolts, and the hook 4-2-4 is connected to the buffer. The tension sensor 4-2-2 is installed in the middle of the tension sensor 4-2-2 via its thread. When the hook 4-2-4 is under tension, the tension sensor 4-2-2 will be under tension, and through the housing 4-2-1 of the tension measuring device 4-2, it will pull the rod 4-1-1 of the buffer device 4-1 relative to the buffer seat 4-1-3, thereby compressing or releasing the spring 4-1-2; the tension adjustment device 4-3 consists of a wire cover 4-3-1, a winding wheel 4-3-2, a winding motor bracket 4-3-3, a winding motor 4-3-4, and a wire rope 4-3-5. The winding motor 4-3-4 is connected to the winding motor bracket 4-3-5. 3. Mounted on the driven end support plate 2-1, a winding wheel 4-3-2 is mounted on the shaft of the winding motor 4-3-4. The wire cover 4-3-1 covers the winding wheel 4-3-2 and is fixed to the driven end support plate 2-1 by bolts. This is to prevent the wire rope 4-3-5 on the winding wheel 4-3-2 from coming off the groove of the winding wheel 4-3-2. One end of the wire rope 4-3-5 is fixed to the winding wheel 4-3-2 and wound around the winding wheel 4-3-2. When the winding motor 4-3-4 rotates, it will drive the winding wheel 4-3-2 to rotate, changing the length of the wire rope 4-3-5 in the groove of the winding wheel 4-3-2.The other end of the wire rope 4-3-5 is equipped with a lock. The lock of the wire rope 4-3-5 is connected to the hook 4-2-4 of the tension measuring device 4-2. When the winding motor 4-3-4 rotates, the tension measuring device 4-2 can be pulled through the wire rope 4-3-5, which in turn pulls the lever 4-1-1 of the buffer device 4-1. The tension force is measured through the tension sensor 4-2-2, thereby realizing the clamping force control of the cable by the cable-climbing robot. When the cable diameter changes, the buffer... The spring 4-1-2 of the punching device 4-1 adjusts the clamping force, and the tension sensor 4-2-2 detects changes in the tension. The electronic control device 5 then processes the data. When the tension exceeds the preset maximum tension, the winding motor 4-3-4 is reversed (assuming forward rotation is for tensioning), reducing the tension. When the tension is less than the preset minimum tension, the winding motor 4-3-4 is forward rotated (assuming forward rotation is for tensioning), increasing the tension. This achieves automatic adjustment of the robot's clamping force.

[0039] As attached Figure 2 As shown, the electronic control device 5 is installed on the outside of the driven end support plate 2-1. It is used to control the measurement of the tension of each tension sensor of the robot, the operation of the motor of the tension adjustment device and the drive motor, so as to realize the adjustment of the robot clamping force and the speed control and steering of the robot drive motor, and to realize the adjustment of the robot crawling speed and the change of crawling direction.

[0040] Depending on the inspection requirements, the robot can be equipped with corresponding sensors, such as cameras and encoders, to meet the diverse inspection requirements of cables.

[0041] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. The described examples are merely preferred embodiments of this utility model and are not intended to limit the design of this utility model. Those skilled in the art can make various modifications and variations to this utility model when faced with specific problems. Without departing from the spirit and scope of this utility model, all such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A cable-climbing robot with automatic clamping force adjustment, characterized in that: The device includes a drive unit (1), a driven unit (2), a slide rail device (3), a clamping force adjustment device (4), and an electronic control device (5). The drive unit (1) includes a drive end support plate (1-1), a drive end housing (1-2), a drive end bearing seat (1-3), a drive end crawling wheel device (1-4), a belt (1-5), a tensioning mechanism (1-6), a drive pulley (1-7), a drive motor bracket (1-8), and a drive motor (1-9). The drive end crawling wheel device (1-4) is composed of a drive shaft (1-4-1), a drive end hub (1-4-2), a drive end crawling wheel (1-4-3), and a pulley (1-4-4). (1-4-3) The drive end hub (1-4-2) is mounted on the drive shaft (1-4-1), and is mounted on the inner side of the drive end support plate (1-1) via the drive end bearing seat (1-3). A pulley (1-4-4) is mounted on one end of the drive shaft (1-4-1), and two drive end crawling wheel devices (1-4) are spaced a certain distance apart. The tensioning mechanism (1-6) consists of an adjusting bolt (1-6-1), an adjusting bracket (1-6-2), a tensioning wheel (1-6-3), and a fixed bracket (1-6-4). The tensioning wheel (1-6-3) is mounted on the fixed bracket (1-6-4) via the adjusting bracket (1-6-2), and is adjusted by adjusting the adjusting bolt on the drive end support plate (1-1). (1-6-1) allows the adjusting bracket (1-6-2) and the fixed bracket (1-6-4) to move. The tensioning mechanism (1-6) is installed on the inner side of the drive end support plate (1-1) via the fixed bracket (1-6-4). The drive motor (1-9) is installed on the outer side of the drive end support plate (1-1) via the drive motor bracket (1-8). Its output shaft is equipped with a drive pulley (1-7). A belt (1-5) is installed between the drive pulley (1-7) on the motor, the pulleys (1-4-4) of the two drive end crawling wheel devices (1-4), and the tensioning wheel (1-6-3). The drive end housing (1-2) is installed on the outer side of the drive end support plate (1-1). The driven device ( 2) Includes a driven end support plate (2-1), a driven end housing (2-2), a driven end bearing seat (2-3), and a driven end crawling wheel device (2-4). The driven end crawling wheel device (2-4) consists of a driven shaft (2-4-1), a driven end hub (2-4-2), and a driven end crawling wheel (2-4-3). The driven end crawling wheel (2-4-3) is mounted on the driven shaft (2-4-1) via the driven end hub (2-4-2) and is mounted on the inner side of the driven end support plate (2-1) via the driven end bearing seat (2-3). The two driven end crawling wheel devices (2-4) are spaced a certain distance apart, and the driven end housing (2-2) is mounted on the outer side of the driven end support plate (2-1).The slide rail device (3) includes an L-connecting block (3-1), a slider (3-2), a slider bracket (3-3), and a slide rail (3-4). The slider bracket (3-3) is mounted on the driven end support plate (2-1) via the L-connecting block (3-1). The slider (3-2) is mounted on the slider bracket (3-3), and the slide rail (3-4) is mounted on the driving end support plate (1-1) via the L-connecting block (3-1). The slider (3-2) and the slide rail (3-4) are assembled together and can slide along the direction of the slide rail (3-4). The clamping force adjusting device (4) includes a buffer device (4-1), a tension measuring device (4-2), and a tension adjusting device (4-3). The device (4-1) consists of a pull rod (4-1-1), a spring (4-1-2), and a buffer seat (4-1-3). The buffer seat (4-1-3) is mounted on the drive end support plate (1-1), and the spring (4-1-2) is mounted on the pull rod (4-1-1). One end of the pull rod (4-1-1) passes through the hole in the buffer seat (4-1-3), and the spring (4-1-2) is fixed between the pull rod (4-1-1) and the buffer seat (4-1-3) through the cooperation of the pull rod (4-1-1) and the buffer seat (4-1-3). The tension measuring device (4-2) consists of a housing (4-2-1), a tension sensor (4-2-2), a base plate (4-2-3), and a pull hook (4-2). -4) The outer shell (4-2-1) is installed on the thread of the pull rod (4-1-1) of the buffer device (4-1). The tension sensor (4-2-2) is installed between the outer shell (4-2-1) and the base plate (4-2-3). The outer shell (4-2-1), the tension sensor (4-2-2), and the base plate (4-2-3) are fixed together by bolts. The hook (4-2-4) is installed in the middle of the tension sensor (4-2-2) by its thread. The tension adjustment device (4-3) consists of a wire cover (4-3-1), a winding wheel (4-3-2), a winding motor bracket (4-3-3), a winding motor (4-3-4), and a wire rope (4-3-5). The winding motor (4-3-4) is mounted on the driven end support plate (2-1) via a winding motor bracket (4-3-3). A winding reel (4-3-2) is mounted on the shaft of the winding motor (4-3-4). A wire cover (4-3-1) covers the winding reel (4-3-2) and is fixed to the driven end support plate (2-1) with bolts. One end of the wire rope (4-3-5) is fixed to the winding reel (4-3-2) and wound around it. The other end is equipped with a lock. The lock of the wire rope (4-3-5) is connected to the hook (4-2-4) of the tension measuring device (4-2). The control device (5) is installed on the outside of the driven end support plate (2-1).

2. The cable-climbing robot with automatic clamping force adjustment according to claim 1, characterized in that: The clamping force adjustment device (4) can measure the magnitude of the tension on it through the tension sensor (4-2-2). The electronic control device (5) can control the tension adjustment device (4-3) to automatically adjust the tension between the robot drive device (1) and the driven device (2) according to the measured tension value. The total of the tension is the clamping force of the robot on the cable.

3. The climbing robot with automatic clamping force adjustment according to claim 1, characterized in that: The spring (4-1-2) of the clamping force adjusting device (4) provides tension between the robot drive device (1) and the driven device (2), providing clamping force for the robot to the cable, and at the same time acting as a buffer spring to increase the robot's adaptability to changes in the cable diameter.

Images