Cable climbing robot

Abstract

The utility model provides a cable climbing robot, belongs to the technical field of robots, and solves the technical problems that an existing cable climbing robot cannot well cross obstacles and reliably climb a cable, and cannot provide certain friction force to climb and cannot damage the surface of the cable at the same time. A cable climbing robot comprises a support, the support is of a half-and-half hexagonal structure, the support is fixedly installed through bolts, a circular through hole is formed in the support in a penetrating mode, and a plurality of climbing assemblies are annularly arranged on the periphery of the circular through hole at equal intervals. According to the robot, through the multiple climbing assemblies which are annularly arranged at equal intervals, under the action of each driving motor, each climbing assembly can achieve continuous rolling, stable rope climbing of the robot is ensured, through independent control of each driving motor, braking measures can be conveniently taken when the robot breaks down, and meanwhile, the robot is prevented from being damaged. Under the action of the supporting spring and the connecting rod unit, the movable rod can drive the cable climbing wheel to steadily cross obstacles through pressing connection.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and relates to a robot, particularly a rope-climbing robot. Background Technology

[0002] A cable-stayed bridge is a type of bridge where the main beam is directly supported by numerous cables to the bridge towers. It is a structural system composed of pressure-bearing towers, tension-bearing cables, and bending-bearing beams. It can be viewed as a multi-span elastically supported continuous beam where cables replace piers. This reduces the bending moment within the beam, lowers the building height, reduces structural weight, and saves materials. However, the cables of cable-stayed bridges are exposed to sunlight and wind year-round, and their surfaces often develop cracks and corrosion. Most of these issues begin with aging and damage to the outer layer. If left unattended, these problems can lead to cable deformation, breakage, and other dangerous situations, resulting in property damage and, in severe cases, endangering lives. Current cable inspection methods mainly rely on manual climbing, which has drawbacks such as high safety risks, low inspection efficiency, incomplete inspection content, and high inspection costs.

[0003] A search revealed a cable-climbing robot disclosed in Chinese patent literature [Application No.: CN202211234967.7; Publication No.: CN117904961A]. This cable-climbing robot includes a two-part frame, a climbing mechanism, a drive mechanism, an anti-deviation mechanism, and a camera assembly. The climbing mechanism is connected to the two-part frame, the drive mechanism is connected to the two-part frame, the anti-deviation mechanism is connected to the two-part frame, and the camera assembly is connected to the two-part frame.

[0004] Although the cable-climbing robot disclosed in this patent climbs cables of different diameters using a two-part frame and "V"-shaped wheels, the cable-stayed bridge has a large inclination angle and certain disturbances and vibrations. The climbing distance is long, and the contact area between the "V"-shaped wheels on both sides and the cable is limited, resulting in poor stability and ease of climbing. Moreover, the camera's placement on the inside makes it difficult to accurately detect cable defects due to vibrations and obstacle crossings. Utility Model Content

[0005] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a cable-climbing robot. The technical problem this invention aims to solve is: how to achieve good obstacle crossing and reliable cable climbing for the cable-climbing robot, while providing sufficient friction for climbing without damaging the cable surface.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] A climbing robot includes a support frame, which is a hexagonal structure with two halves, and the support frame is fixedly installed by bolts. A circular through hole is opened through the inside of the support frame, and multiple climbing components are arranged equidistantly around the outer periphery of the circular through hole. The climbing components are fixedly installed on the inner wall of the support frame. Multiple image acquisition units are arranged equidistantly around the surface of the support frame, and each image acquisition unit is arranged above each climbing component.

[0008] The climbing assembly includes a mounting base, which is fixedly connected to the inner wall of the bracket. Movable rods are rotatably connected to both the upper and lower sides of the mounting base. A connecting seat is rotatably installed at the end of the movable rod away from the mounting base. A support spring is fixedly connected to one side of the connecting seat. The other end of the support spring is slidably connected to a limit seat through a sleeve. The limit seat is fixedly installed on the inner wall of the bracket.

[0009] A connecting rod unit is connected to one side of the movable rod. The connecting rod unit is fixedly installed on the inner wall of the bracket, and the connecting rod unit is located between the support spring and the mounting base.

[0010] The end of the connecting seat away from the movable rod is fixedly connected to a connecting frame, and a climbing cable wheel is rotatably connected to one side of the connecting frame. A drive unit is installed on the outer side of the climbing cable wheel.

[0011] Using the above structure, the bracket is installed on the outer circumference of the cable by bolts, so that the three ring-shaped climbing components are equally spaced and fit against the outer circumference of the cable. Specifically, the drive motor drives the drive gear to rotate, and the meshing action of the drive gear and the gear disk causes the climbing wheel to rotate and crawl on the outer circumference of the cable. The ring-shaped and equally spaced arrangement of the three climbing components improves the stability of the robot on the outer circumference of the cable. Moreover, by rotating the connecting seat at the outer end of the movable rod, the support spring supports the bracket and the mounting seat, which facilitates the mounting seat to drive the climbing wheel to accurately fit and press against the surface of the cable, and provides friction for the movement of the climbing wheel.

[0012] The linkage unit includes two parallel connecting rods, one end of which is rotatably connected to the outside of the movable rod, and the two connecting rods are located on both sides of the movable rod. A transmission rod is rotatably installed at the end of the connecting rod away from the movable rod, and a fixing block is rotatably connected to the other end of the transmission rod. The fixing block is fixedly installed on the inside of the bracket.

[0013] With the above structure, the linkage unit between the support spring and the mounting base allows the upper and lower connecting rods and the transmission rod to support one side of the movable rod, ensuring the accuracy of the movable rod's rotation above and below the mounting base. This increases the friction of the movable rod, making it easier for the movable rod to drive the climbing wheel to crawl against the outer wall of the cable.

[0014] The drive unit includes a gear disk, which is fixedly connected to the outside of the climbing cable wheel and located on the outside of the connecting frame. A drive gear is meshed with the outer wall of the gear disk, and the drive gear is rotatably connected to the outer wall of the connecting frame. The output shaft of the drive motor is fixedly installed inside the drive gear, and the drive motor is fixedly installed on the outer wall of the connecting frame.

[0015] With the above structure, the gear disk and drive gear are meshed together, the transmission ratio is fixed, and the drive motor is a stepper motor, which can accurately drive the gear disk to rotate. In addition, the climbing wheel uses an alloy hub and rubber tires, which increases the rigidity and strength of the climbing wheel. At the same time, the rubber has room for elastic deformation, good grip, and is not easy to damage the cable, which facilitates the climbing wheel to climb the cable smoothly and avoids damage to the cable.

[0016] The limiting seat has a groove inside that can accommodate the sliding of the sleeve, and a support spring is fixedly connected to the side of the sleeve away from the limiting seat.

[0017] With the above structure, the sleeve and the limiting seat are magnetically connected, which facilitates precise positioning of the sleeve after it slides on the surface of the limiting seat. Moreover, the sleeve allows the sleeve to drive one end of the support spring for position adjustment. Specifically, the spring material is carbon steel with a shear modulus G of 79,000 and an elastic modulus E of 206,000. This design allows the support spring to adjust the cable-holding space of the connecting seat on one side, making it easier for the robot to adapt to cables of different diameters and improving the robot's flexibility. Furthermore, the compression spring structure on the side of the connecting seat allows the connecting seat to drive the climbing wheel to overcome obstacles. The layout of the upper and lower double springs ensures flexibility on the outside of the cable.

[0018] The image acquisition unit includes a fixed rod, which is fixedly connected to the surface of the bracket, and a vision camera is fixedly mounted on the top of the fixed rod.

[0019] The vision camera is positioned above the cable wheel.

[0020] With the above structure, three image acquisition units are set above the three climbing components. Through the ring-shaped equidistant action of the image acquisition units, the three vision cameras can accurately acquire images on the outer periphery of the cable. At the same time, the vision cameras are electrically connected to a controller, the model of which is STM32F051C8U6, so that the image information acquired by the vision cameras can be accurately transmitted to the image acquisition system.

[0021] Compared with existing technologies, the cable-climbing robot of this invention has the following advantages:

[0022] In this invention, multiple ring-shaped, equidistantly arranged climbing components, under the action of each drive motor, enable each climbing component to continuously roll, ensuring the robot's smooth climbing of the cable. Furthermore, the independent control of each drive motor allows the robot to take braking measures when encountering a malfunction. Simultaneously, under the action of the support spring and linkage unit, the movable rod can drive the climbing cable wheel through pressing to stably overcome obstacles, while also increasing friction to avoid damage to the cable surface. Moreover, the movable setting of the spring facilitates use on different sides of the cable, making it highly flexible and practical. Attached Figure Description

[0023] Figure 1 This is a structural schematic diagram of a climbing robot according to this utility model.

[0024] Figure 2 This is a cross-sectional structural diagram of a cable-climbing robot according to this utility model.

[0025] Figure 3 This is a schematic diagram of the support structure in this utility model.

[0026] Figure 4 This is a schematic diagram of the climbing component in this utility model.

[0027] In the picture:

[0028] 1. Bracket; 2. Bolt; 3. Mounting base; 4. Movable rod; 5. Connecting seat; 6. Support spring; 7. Limiting seat; 8. Connecting rod; 9. Transmission rod; 10. Fixing block; 11. Connecting frame; 12. Climbing cable wheel; 13. Gear disk; 14. Drive gear; 15. Drive motor; 16. Fixing rod; 17. Vision camera. Detailed Implementation

[0029] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments. Example

[0030] like Figures 1-4 As shown;

[0031] A cable-climbing robot includes a support 1, bolts 2, mounting base 3, movable rod 4, connecting base 5, support spring 6, limiting base 7, connecting rod 8, transmission rod 9, fixing block 10, connecting frame 11, cable-climbing wheel 12, gear disk 13, drive gear 14, drive motor 15, fixing rod 16, and vision camera 17. The support 1 is a hexagonal structure with two halves, and is fixedly installed by bolts 2. The structure is simple, easy to assemble and disassemble, and facilitates efficient installation on the outer periphery of the cable. A circular through hole is provided inside the support 1. This design gives the hexagonal support 1 good geometric symmetry, making it more suitable for cylindrical or near-cylindrical cables. The structural design of the support 1 simplifies the support part and helps reduce the weight of the cable-climbing robot. At the same time, three climbing components are arranged equidistantly in a ring around the outer periphery of the circular through hole. The climbing assembly is fixedly installed on the inner wall of the support 1, and three image acquisition units are equidistantly installed in a ring on the surface of the support 1. The three image acquisition units are correspondingly set above each climbing assembly. Under the ring-equidistant action of the image acquisition units, the three vision cameras 17 can accurately acquire images on the outer periphery of the rope. Specifically, the image acquisition unit includes a fixed rod 16, which is fixedly connected to the surface of the support 1, and a vision camera 17 is fixedly installed on the top of the fixed rod 16. The vision camera 17 is correspondingly set above the climbing cable wheel 12. The vision camera 17 is electrically connected to a controller, the controller model is STM32F051C8U6, so that the image information acquired by the vision camera 17 can be accurately transmitted to the image acquisition system.

[0032] The climbing assembly includes a mounting base 3, which is fixedly connected to the inner wall of the support 1. Movable rods 4 are rotatably connected to both the upper and lower sides of the mounting base 3. A connecting base 5 is rotatably mounted on the end of the movable rod 4 away from the mounting base 3. A support spring 6 is fixedly connected to one side of the connecting base 5. Through the compression spring structure of the support spring 6 on one side of the connecting base 5, the connecting base 5 can drive the climbing cable wheel 12 to cross obstacles. At the same time, a limiting seat 7 is slidably connected to the other end of the support spring 6 through a sleeve. The limiting seat 7 has a groove inside that can accommodate the sliding of the sleeve. The support spring 6 is fixedly connected to the side of the sleeve away from the limiting seat 7. The limiting seat 7 is fixedly installed on the inner wall of the support 1. With this setting, the sleeve and the limiting seat 7 are magnetically connected, which makes it easy for the sleeve to be precisely limited after sliding on the surface of the limiting seat 7. Moreover, the sleeve setting allows the sleeve to drive one end of the support spring 6 to adjust its position, so that the support spring 6 can adjust the cable holding space of the connecting base 5 on one side of the connecting base 5, which makes it easy for the robot to adapt to cables of different diameters.

[0033] Furthermore, in order to achieve stable support for the movable rod 4, a connecting rod unit is connected to one side of the movable rod 4. The connecting rod unit is fixedly installed on the inner wall of the bracket 1 and is located between the support spring 6 and the mounting seat 3. The connecting rod unit includes two parallel connecting rods 8. One end of each connecting rod 8 is rotatably connected to the outside of the movable rod 4, and the two connecting rods 8 are located on both sides of the movable rod 4. A transmission rod 9 is rotatably installed at the end of the connecting rod 8 away from the movable rod 4, and a fixing block 10 is rotatably connected to the other end of the transmission rod 9. The fixing block 10 is fixedly installed on the inner side of the bracket 1. With the action of the connecting rod unit between the support spring 6 and the mounting seat 3, the upper and lower connecting rods 8 and the transmission rod 9 can support one side of the movable rod 4, ensuring the accuracy of the movable rod 4's rotation above and below the mounting seat 3, increasing the friction of the movable rod 4, and facilitating the movable rod 4 to drive the climbing wheel 12 to crawl against the outer wall of the cable.

[0034] To drive the climbing wheel 12, a connecting frame 11 is fixedly connected to the end of the connecting seat 5 away from the movable rod 4, and the climbing wheel 12 is rotatably connected to one side of the connecting frame 11. To achieve a stable climbing effect, the climbing wheel 12 uses an alloy hub and rubber tires, increasing the rigidity and strength of the climbing wheel 12. At the same time, the rubber has room for elastic deformation, providing good grip and preventing damage to the cable, facilitating smooth climbing and avoiding damage to the cable. A drive unit is installed on the outside of the climbing wheel 12, specifically, the drive unit includes a gear disk 13. The gear disk 13 is fixedly connected to the outside of the climbing cable wheel 12, and the gear disk 13 is located on the outside of the connecting frame 11. The outer wall of the gear disk 13 is meshed with the drive gear 14, and the drive gear 14 is rotatably connected to the outer wall of the connecting frame 11. Through the meshing connection between the gear disk 13 and the drive gear 14, the transmission ratio is fixed. At the same time, the output shaft of the drive motor 15 is fixedly installed inside the drive gear 14. The drive motor 15 is fixedly installed on the outer wall of the connecting frame 11. If the drive motor 15 is a stepper motor, the drive motor 15 can accurately drive the gear disk 13 to rotate.

[0035] The working principle of this utility model is as follows: During operation, the bracket 1 is fitted onto the outer circumference of the cable using bolts 2, causing the three annularly spaced climbing components to be equidistantly attached to the outer circumference of the cable. Specifically, the drive motor 15 is energized to drive the drive gear 14 to rotate. Under the meshing action of the drive gear 14 and the gear disc 13, the climbing wheel 12 rotates and crawls on the outer circumference of the cable. The annularly spaced arrangement of the three climbing components improves the stability of the robot on the outer circumference of the cable. Furthermore, by rotating the connecting seat 5 at the outer end of the movable rod 4, the support spring 6 provides support between the bracket 1 and the mounting seat 3, facilitating the mounting seat 3 to drive the climbing wheel 12 to crawl on the surface of the cable. Precise fitting and pressing provide friction for the movement of the climbing wheel 12, and the elasticity of the support spring 6 facilitates the squeezing of the climbing wheel 12 when crossing obstacles. At the same time, in order to ensure the stability of the movable rod 4, the linkage unit is set to further improve the support between the movable rod 4 and the bracket 1, which is more stable than the single compression spring structure, avoiding the offset and tilt of the movable rod 4 and ensuring the climbing quality of the robot. Moreover, with the fixed rod 16 and vision camera 17 set at the top of the bracket 1, the three vision cameras 17 can collect image information from multiple angles for transmission, which facilitates accurate detection of cable defects. This completes the working principle of the climbing robot.

[0036] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A cable-climbing robot, comprising a support frame (1), characterized in that: The bracket (1) is a hexagonal structure with half open, and the bracket (1) is fixedly installed by bolts (2). A circular through hole is opened through the inside of the bracket (1), and multiple climbing components are arranged equidistantly around the outer periphery of the circular through hole. The climbing components are fixedly installed on the inner wall of the bracket (1). Multiple image acquisition units are arranged equidistantly around the surface of the bracket (1), and each image acquisition unit is arranged above each climbing component. The climbing assembly includes a mounting base (3), which is fixedly connected to the inner wall of the bracket (1). Movable rods (4) are rotatably connected to both the upper and lower sides of the mounting base (3). A connecting seat (5) is rotatably installed at the end of the movable rod (4) away from the mounting base (3). A support spring (6) is fixedly connected to one side of the connecting seat (5). The other end of the support spring (6) is slidably connected to a limit seat (7) through a sleeve. The limit seat (7) is fixedly installed on the inner wall of the bracket (1). A connecting rod unit is connected to one side of the movable rod (4). The connecting rod unit is fixedly installed on the inner wall of the bracket (1), and the connecting rod unit is located between the support spring (6) and the mounting base (3). The connecting seat (5) is fixedly connected to a connecting frame (11) at one end away from the movable rod (4), and a climbing wheel (12) is rotatably connected to one side of the connecting frame (11), and a drive unit is installed on the outside of the climbing wheel (12).

2. The cable-climbing robot according to claim 1, characterized in that: The linkage unit includes two parallel connecting rods (8). One end of each connecting rod (8) is rotatably connected to the outside of the movable rod (4), and the two connecting rods (8) are located on both sides of the movable rod (4). A transmission rod (9) is rotatably installed at the end of the connecting rod (8) away from the movable rod (4), and a fixing block (10) is rotatably connected to the other end of the transmission rod (9). The fixing block (10) is fixedly installed on the inside of the bracket (1).

3. The cable-climbing robot according to claim 1, characterized in that: The drive unit includes a gear disk (13), which is fixedly connected to the outside of the climbing cable wheel (12) and located on the outside of the connecting frame (11). The outer wall of the gear disk (13) is meshed with a drive gear (14), which is rotatably connected to the outer wall of the connecting frame (11). The output shaft of the drive motor (15) is fixedly installed inside the drive gear (14), and the drive motor (15) is fixedly installed on the outer wall of the connecting frame (11).

4. A cable-climbing robot according to claim 1, characterized in that: The limiting seat (7) has a groove inside that can accommodate the sliding of the sleeve. A support spring (6) is fixedly connected to the side of the sleeve away from the limiting seat (7), and the sleeve and the groove are magnetically connected.

5. A cable-climbing robot according to claim 1, characterized in that: The image acquisition unit includes a fixed rod (16), which is fixedly connected to the surface of the bracket (1), and a visual camera (17) is fixedly installed on the top of the fixed rod (16). The vision camera (17) is positioned above the climbing wheel (12).

Images