Single-wire coating walking robot with band-type brake function

Abstract

The utility model provides a single wire coating walking robot with a band-type brake function, which comprises a band-type brake module, the band-type brake module comprises a supporting plate, a locking motor is arranged below the supporting plate, an output shaft of the locking motor penetrates through the supporting plate and is coaxially connected with a motor gear, a lead screw gear is positioned on the front side of the motor gear, and the lead screw gear and the motor gear are meshed. The lead screw gear and the lead screw are coaxial, the lead screw downwards penetrates through the supporting plate, a lead screw nut is connected to the lead screw in a screwed mode, the lead screw nut is rigidly connected with one end of a push rod through a push plate, the other end of the push rod is fixed to a jacking plate, the jacking plate is in linkage with a pressing plate through guide columns on the two sides, and the guide columns penetrate through the supporting plate and are in sliding fit with the supporting plate. The band-type brake module is adopted to deeply integrate mechanical transmission, a motor drives a gear set to achieve rotation of a lead screw, and through the transmission effects of a series of structures such as a push rod, a jacking plate, a pressing plate and a band-type brake top plate, the pressing plate can be pressed on a wire, and the braking effect that a mechanical device and the overhead ground wire do not move relatively is achieved.

Description

Technical Field

[0001] This utility model belongs to the technical field of overhead line conductor coating equipment, and in particular relates to a single conductor coating walking robot with a brake function. Background Technology

[0002] Overhead lines are widely distributed, long, and operate in complex environments. They have become the primary form of power transmission, and their safe and stable operation directly impacts the reliability of the power supply system. However, overhead lines mostly use bare wires. After long-term operation, the exposed conductor surfaces and strand gaps easily accumulate large amounts of dust, dried mudflows formed from dust after rain and wind, residual oil, dirt, bird droppings, and other debris. These can easily form mudflows during storms, causing unexpected short circuits between conductors and leading to unexpected power grid tripping and other accidents.

[0003] With the development of robotics technology, more and more robots are replacing humans in performing tasks in harsh environments and with complex procedures. Using robotics to inspect overhead power lines can effectively prevent power outages caused by human error or natural disasters, such as short circuits and line breaks. However, existing robots still have some shortcomings in practical use. Due to the weight of the overhead power line, it naturally forms a suspended line. The robot's movement on the overhead power line can be divided into uphill and downhill sections. In this case, the robot's walking device should have good power and deceleration devices. When a problem is detected in the power transmission line, the robot needs to stay on the overhead power line. At this time, the robot should ideally be stationary. However, due to the small frictional resistance, it is not enough to overcome gravity, causing the V-shaped friction wheel to roll along the overhead power line. Existing braking devices are difficult to keep the robot stationary. Utility Model Content

[0004] To overcome the shortcomings of the prior art, this utility model provides a single-wire coated walking robot with a brake function. The walking mechanism of this utility model adopts a brake device, which can ensure that the robot is stationary when it finds a problem in the line inspection, and at the same time prevent the robot from going too fast on downhill sections, so as to achieve no relative movement between the robot and the overhead ground wire and deceleration function on downhill sections.

[0005] This utility model is achieved through the following technical solution:

[0006] A single-wire coating walking robot with a brake function includes a brake module. The brake module includes a support plate, and a locking motor is disposed below the support plate. The output shaft of the locking motor passes through the support plate and is coaxially connected to a motor gear located above the support plate. A lead screw gear is located in front of the motor gear and the two mesh. The lead screw gear is coaxially fixed with the lead screw, and the lead screw passes downward through the support plate. A lead screw nut is screwed onto the lead screw. The lead screw nut is located below the support plate and fixed to the upper surface of a push plate. The lead screw nut is rigidly connected to one end of a push rod through the push plate. The other end of the push rod is fixed to a lifting plate. The lifting plate is located above the support plate and fixed below the brake top plate. The lifting plate is linked to a pressure plate located below the push plate through guide posts on both sides. The guide posts pass through the support plate and slide with it.

[0007] Furthermore, the length of the lifting plate is the same as that of the push plate, and the length of the pressure plate is the same as that of the brake top plate. The lengths of the lifting plate, the brake top plate, and the support plate gradually increase.

[0008] Furthermore, the brake module also includes electromagnets and magnetic plates. The electromagnets are fixed to the lower surface of the support plate and are arranged symmetrically on the left and right sides. Each set of electromagnets is located on the side of the guide column away from the locking motor. The magnetic plates are installed on the upper surface of the pressure plate. The number of magnetic plates is the same as that of the electromagnets and their positions correspond one-to-one.

[0009] Furthermore, a shock-absorbing block is provided between the support plate and the guide column.

[0010] Furthermore, the shock absorber is made of silicone material and has a honeycomb cavity structure inside. The shock absorber and the guide column are interference-fitted to provide both radial damping and axial rigid support.

[0011] Furthermore, a left side plate and a right side plate are respectively provided on the left and right sides of the support plate, and the left side plate and the right side plate are of the same length and are distributed in a corresponding position.

[0012] Furthermore, it also includes a walking module, which includes a drive motor and a reduction gearbox. The drive motor is fixed to the side of the left side plate, and the reduction gearbox is located to the left of the drive motor. The output shaft of the drive motor is connected to the reduction gearbox.

[0013] Furthermore, the gearbox includes a first bevel gear and a second bevel gear, which mesh perpendicularly at a 90-degree angle. The first bevel gear is coaxially arranged with the output shaft of the drive motor, and the second bevel gear is located to the left of the first bevel gear and fixed to the left side plate.

[0014] Furthermore, the walking module also includes a drive shaft and V-shaped friction wheels. The drive shaft comprises a first drive shaft and a second drive shaft, which are symmetrically arranged below the support plate on both sides, with the first drive shaft located to the left of the second drive shaft. Both ends of the first and second drive shafts are equipped with V-shaped friction wheels, and the first drive shaft is coaxially fixed to the output end of the second bevel gear.

[0015] Furthermore, the walking module also includes a synchronous belt drive mechanism, which includes a driving synchronous belt pulley, a driven synchronous belt pulley, and a synchronous belt. The driving synchronous belt pulley is coaxially connected to the first drive shaft, and the driven synchronous belt pulley is linked to the second drive shaft through the synchronous belt.

[0016] Compared with the prior art, this utility model has at least the following advantages and beneficial effects:

[0017] 1. This utility model adopts a brake module in the walking mechanism, which deeply integrates mechanical transmission. The motor drives the gear set to realize the rotation of the lead screw. Through the transmission effect of a series of structures such as push rod, lifting plate, pressure plate and brake top plate, the pressure plate can be pressed onto the conductor to achieve the braking effect of no relative movement between the mechanical device and the overhead ground wire.

[0018] 2. This utility model deeply integrates electromagnetic control and mechanical transmission, and combines the rapid response characteristics of electromagnetic adsorption to form a dual-mode braking mechanism of "motor drive + electromagnetic locking" to achieve no relative movement between the robot and the overhead ground wire and deceleration function on downhill sections.

[0019] 3. The walking module of this utility model efficiently transmits the output shaft power of the drive motor to the drive shaft through the vertical meshing structure of bevel gears, and realizes the function of speed reduction and torque increase. The drive motor and the fixed plate are installed in parallel, breaking through the space limitation of traditional parallel gear sets, significantly reducing the volume of the gearbox, and is especially suitable for narrow or restricted overhead line environments.

[0020] 4. This utility model incorporates both a brake module and a walking module in its structure, which can achieve the goal of smooth movement of the robot on overhead lines, ensure that the robot remains stationary when it detects problems during line inspection, and prevent the robot from going too fast on downhill sections, thus achieving a dual technical effect.

[0021] Advantages of the present invention in additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0023] Figure 1 This is a schematic diagram of the structure of the brake module of this utility model;

[0024] Figure 2 This is a front view of the structure of the brake module of this utility model;

[0025] Figure 3 This is a top view of the walking module of this utility model;

[0026] Figure 4 This is an isometric drawing of the walking mechanism of this utility model;

[0027] Figure 5 This is a left view of the overall walking mechanism of this utility model;

[0028] Figure 6 This is a right view of the overall walking mechanism of this utility model;

[0029] The components are as follows: 1. Support plate; 2. Shock absorber block; 3. Guide column; 4. Motor gear; 5. Lead screw gear; 6. Brake top plate; 7. Lifting plate; 8. Push rod; 9. Electromagnet; 10. Magnetizing plate; 11. Pressure plate; 12. Lead screw; 13. Locking motor; 14. Lead screw nut; 15. Push plate; 16. Connecting rod; 17. Drive motor; 18. First drive shaft; 19. V-type friction wheel; 20. First bevel gear; 21. Second bevel gear; 22. Left side plate; 23. Right side plate; 24. Second drive shaft; 25. Drive synchronous belt pulley; 26. Driven synchronous belt pulley; 27. Synchronous belt; 28. Gearbox. Detailed Implementation

[0030] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention; unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention pertains; it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention.

[0031] Where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0032] Example 1

[0033] like Figure 1As shown, this embodiment provides a single-wire coating walking robot with a brake function, including a brake module. The brake module includes a support plate 1, a shock absorber 2, a guide column 3, a motor gear 4, a lead screw gear 5, a brake top plate 6, a lifting plate 7, a push rod 8, an electromagnet 9, a magnetic sheet 10, a pressure plate 11, a lead screw 12, a locking motor 13, a lead screw nut 14, and a push plate 15.

[0034] A locking motor 13 is installed below the support plate 1. The output shaft of the locking motor passes through the support plate 1 and is coaxially connected to the motor gear 4 located above the support plate. The lead screw gear 5 is located in front of the motor gear, and the motor gear 4 meshes with the lead screw gear 5. The lead screw 12 is coaxially fixed with the lead screw gear 5. The lead screw 12 passes through the support plate downward, and a lead screw nut 14 is screwed onto the lead screw 12. In this embodiment, the lead screw adopts a trapezoidal thread structure. The lead screw nut 14 is located below the support plate and is in close contact with the upper surface of the push plate, that is, the lead screw nut 14 is fixed on the upper surface of the push plate 15. Push rods 8 are respectively provided on the left and right sides of the push plate 15. The lead screw nut 14 is rigidly connected to one end of the push rod 8 through the push plate 15. The other end of the push rod 8 passes through the support plate upward and is fixedly connected to the lifting plate 7. The lifting plate 7 is located above the support plate. The end of the lifting plate 7 away from the push rod is fixedly connected to the lower surface of the brake top plate 6.

[0035] A guide post 3 is set on each of the left and right sides of the lifting plate 7. The guide post 3 penetrates the support plate downward and slides with the support plate. A pressure plate 11 is set below the push plate 15. The lifting plate can be linked with the pressure plate 11 through the guide post 3 on both sides.

[0036] In this embodiment, the length of the lifting plate 7 is the same as that of the push plate 15, and the length of the pressure plate 11 is the same as that of the brake top plate 6. The lengths of the lifting plate, the brake top plate, and the support plate gradually increase. In order to improve the stability of the entire brake module, a vertical connecting rod 16 is provided on the outermost side of each of the left and right ends of the brake top plate 6. The connecting rods 16 on both sides are located on the outside of the guide column 3. The connecting rods 16 on both sides pass through the support plate and are connected to the pressure plate 11. The connecting rods are slidably engaged with the support plate 1. Thus, the two connecting rods 16, the pressure plate 11, and the brake top plate 6 of this application can form a rectangular frame structure.

[0037] To prevent the push rod 8 from jamming, in this embodiment, the push rod 8 and the lifting plate 7 are connected by a ball hinge, and the hinge has a built-in return spring to compensate for the axial deviation during the transmission of the lead screw 12.

[0038] In addition, in this embodiment, the surfaces of the support plate 1, the pressure plate 11 and the guide column 3 are all covered with an insulating protective layer. The insulating protective layer is made of epoxy resin composite material and has a thickness of 1-3mm to meet the insulation requirements of high-voltage live work.

[0039] To further enhance the braking function of the brake module, the brake module in this embodiment also includes an electromagnet 9 and a magnetic plate 10. The electromagnets are fixed to the lower surface of the support plate and are arranged symmetrically on the left and right sides. Each set of electromagnets is located on the side of the guide column away from the locking motor. The magnetic plates are installed on the upper surface of the pressure plate. The number of magnetic plates 10 is the same as that of the electromagnets 9 and they are distributed vertically and vertically corresponding to the positions of the electromagnets.

[0040] When the wire coating robot and the overhead ground wire need to maintain a state of no relative motion, the locking motor 13 can drive the motor gear 4 to rotate through the output shaft. Due to the meshing position relationship between the motor gear 4 and the lead screw gear 5, the lead screw gear 5 will rotate together with the motor gear 4. While rotating, the lead screw gear 5 will also drive the lead screw 12 to rotate together. The rotation of the lead screw 12 drives the lead screw nut 14 to move up and down. The lead screw nut 14 directly drives the lifting plate 7 and the brake top plate 6 to move up and down synchronously through the push rod 8. The brake top plate 6 will drive the pressure plate 11 to move up and down synchronously through the guide column 3 connected to it, clamping the power transmission line by friction or mechanical limit.

[0041] The electromagnet is powered by a built-in DC power supply (battery pack) in the robot. The power supply to the electromagnet is controlled by the robot's main control unit. When it is necessary to release the clamp, the main control unit sends a high-level signal to activate the electromagnet circuit. The magnetic plate 10 is attracted, and the pressure plate 11 moves upward. After the electromagnet is de-energized, the clamping state is maintained by the self-locking of the locking motor 13 and the lead screw.

[0042] When the locking motor 13 reverses, the output shaft rotates in the opposite direction, the motor gear 4 and the lead screw gear 5 rotate in the opposite direction, the lead screw 12 rotates in the opposite direction, the lead screw nut 14 moves upward, the push rod 8 drives the lifting plate 7 and the brake top plate 6 to move upward, the guide column 3 drives the pressure plate 11 to move upward, at the same time, when the electromagnet 9 is energized, the magnetic piece 10 is attracted, the pressure plate 11 moves upward actively, the electromagnetic attraction can accelerate the rise of the pressure plate 11, and quickly release the clamping of the transmission line; the forward and reverse rotation of the output shaft of the locking motor 13 controls the clamping and releasing action of the pressure plate 11 through the transmission of the multi-structure, while the on and off of the electromagnet 9 mainly serves as an auxiliary mechanism to enhance the response speed and improve safety.

[0043] In order to dynamically adjust the ratio of motor torque to electromagnetic attraction force and ensure that there is no impact or release delay during the braking process, this embodiment also installs a torque sensor at the output shaft of the locking motor 13 to monitor the motor torque in real time, and embeds a pressure sensor into the clamping surface of the pressure plate 11 to detect the clamping force. The brake module can dynamically adjust the ratio of torque of locking motor 13 to attraction force of electromagnet 9 according to the sensor feedback data to ensure that the clamping force is stable within the preset threshold range.

[0044] This embodiment deeply integrates electromagnetic control and mechanical transmission. The screw rotation is achieved by driving the gear set with a motor. At the same time, the rapid response characteristics of electromagnetic adsorption are combined to form a dual-mode braking mechanism of "motor drive + electromagnetic locking".

[0045] Since the robot may be affected by external vibrations when inspecting power transmission lines, this embodiment provides a shock-absorbing block 2 between the support plate and the guide column. The shock-absorbing block 2 is made of silicone material and has a honeycomb cavity structure inside. The shock-absorbing block 2 and the guide column 3 are interference fit to provide both radial damping and axial rigid support.

[0046] To enable the robot to move on the overhead line, this embodiment provides a left side plate 22 and a right side plate 23 on the left and right sides of the support plate, respectively. The left side plate 22 and the right side plate 23 are of the same length and are distributed in a corresponding manner. A walking module is provided at the position of the left and right side plates, and the robot is driven to move on the overhead line by means of the walking module.

[0047] The walking module includes a drive motor 17, a reduction gearbox 28, a drive shaft, a V-type friction wheel 19, and a synchronous belt transmission mechanism. The drive motor 17 is fixed to the side of the left side plate, and the reduction gearbox 28 is located to the left of the drive motor. The output shaft of the drive motor is connected to the reduction gearbox. The reduction gearbox includes a first bevel gear 20 and a second bevel gear 21. The first bevel gear 20 and the second bevel gear 21 are meshed perpendicularly at 90 degrees. The first bevel gear is coaxially arranged with the output shaft of the drive motor. The second bevel gear 21 is located to the left of the first bevel gear 20 and is fixed to the left side plate. Through the perpendicular meshing structure of the bevel gears, the power of the output shaft of the drive motor is efficiently transmitted to the drive shaft, and the function of speed reduction and torque increase is realized.

[0048] In this embodiment, the reduction effect of the gearbox 28 is achieved by the reduction ratio. The 90° meshing of the bevel gears is mainly used to change the direction of power transmission (such as horizontal axis → vertical axis), but the reduction effect is still determined by the reduction ratio.

[0049]

[0050] For example, if the number of teeth of the first bevel gear Z1 is 20 and the number of teeth of the second bevel gear Z2 is 60, then the reduction ratio is 60 / 20 = 3:1, that is, the driving gear rotates 3 times and the driven gear rotates 1 time, achieving a 3-fold reduction.

[0051] By rationally designing the number of teeth, module, and gear geometry parameters, and combining this with optimization of lubrication, materials, and assembly processes, a highly efficient and stable deceleration function can be achieved, meeting the torque and speed control requirements of the robot's walking mechanism.

[0052] The drive motor 17 uses a high-power DC motor as its power source, with a rated power of 200-500W. The motor housing surface is equipped with heat dissipation fins, and the heat dissipation fins are bonded to the support plate 1 through a thermally conductive silicone pad to achieve heat conduction.

[0053] The drive shaft includes a first drive shaft 18 and a second drive shaft 24. The first drive shaft 18 and the second drive shaft 24 are symmetrically arranged below the two sides of the support plate 1, and the first drive shaft is located to the left of the second drive shaft. V-shaped friction wheels 19 are installed at both ends of the first drive shaft and the second drive shaft. The output end of the first drive shaft is coaxially fixed with the output end of the second bevel gear.

[0054] The V-shaped friction wheels on both sides of the first / second drive shaft serve as the drive wheels in this embodiment. The V-shaped friction wheels are always in contact with the wire. In order to increase the friction between the driving wheel and the wire, the V-shaped friction wheels in contact with the wire in this embodiment are made of rubber. The V-shaped friction wheels can adapt to different wire diameters within a certain range. The rubber material can increase the friction between the V-shaped friction wheels and the wire. The opening angle and depth of the V-shaped groove have been optimized to adapt to the range of wire diameters. Through the high coefficient of friction and elastic deformation characteristics of the rubber surface, slippage can be prevented under harsh conditions such as climbing slopes and icing.

[0055] The synchronous belt drive mechanism includes a driving synchronous pulley 25, a driven synchronous pulley 26, and a synchronous belt 27. The driving synchronous pulley 25 is coaxially connected to the first drive shaft 18, and the driven synchronous pulley 26 is linked to the second drive shaft 24 through the synchronous belt 27. The driving synchronous pulley and the driven synchronous pulley are connected by the synchronous belt, and with the help of the tensioner, the driving force of the drive motor can be transmitted to the first drive shaft and the second drive shaft to achieve synchronous transmission of the two drive shafts. This design has the advantages of smooth transmission, impact resistance, and reduced maintenance costs.

[0056] When the wire coating robot inspects the overhead bare wire, the drive motor 17 transmits power to the reduction gearbox 28 through the output shaft. The reduction gearbox efficiently transmits the power from the output shaft of the drive motor to the first drive shaft 18 through the vertical meshing structure of the first and second bevel gears. The drive synchronous pulley rotates together with the first drive shaft 18. The drive synchronous pulley 25 drives the driving force of the drive motor to drive the second drive shaft 24 to rotate through the synchronous belt 27 and the driven synchronous pulley 26. At this time, the first drive shaft 18 and the second drive shaft 24 drive the V-shaped friction wheel on their respective sides to rotate, thereby realizing the forward and backward movement of the wire coating robot on the overhead bare wire.

[0057] When the wire coating robot needs to maintain a state of no relative motion with the overhead ground wire, the rotation of the drive motor 17 will be stopped and the electromagnet will be de-energized. The magnetic piece 10 will separate from the electromagnet 9, and the pressure plate 11 can move freely. At this time, the locking motor 13 will be started. The driving force of the locking motor 13 will drive the motor gear 4 to rotate through its own output shaft, and the lead screw gear 5 will rotate together with the motor gear 4. The rotation of the lead screw gear will drive the lead screw 12 to rotate. The rotation of the lead screw 12 will cause the lead screw nut 14 to move downward. The lead screw nut 14 will directly drive the lifting plate 7 and the brake top plate 6 to move downward synchronously through the push rod 8. The brake top plate 6 will drive the pressure plate 11 to move downward synchronously through the guide column 3. The pressure plate will limit the downward movement and clamp the power transmission line.

[0058] After the pressure plate clamps the power transmission line, if the wire coating robot is to move back and forth on the overhead bare wire, the electromagnet 9 will be energized first, the magnetic piece 10 will be attracted, the pressure plate 11 will move upward to release the clamp, and the drive motor 17 will be started.

[0059] When the locking motor 13 reverses, the output shaft rotates in the opposite direction, the motor gear 4 and the lead screw gear 5 rotate in the opposite direction, the lead screw 12 rotates in the opposite direction, the lead screw nut 14 moves upward, the push rod 8 drives the lifting plate 7 and the brake top plate 6 to move upward, the guide column 3 drives the pressure plate 11 to move upward, at the same time, when the electromagnet 9 is energized, the magnetic piece 10 is attracted, the pressure plate 11 moves upward actively, the electromagnetic attraction can accelerate the rise of the pressure plate 11, thereby quickly releasing the clamp on the transmission line.

[0060] The motor gear 4 can drive the lead screw gear 5 to rotate through the output shaft. Due to the meshing position relationship between the motor gear 4 and the lead screw gear 5, the lead screw gear 5 will rotate together with the motor gear 4. The rotation of the lead screw gear will also drive the lead screw 12 to rotate together. The rotation of the lead screw 12 drives the lead screw nut 14 to move up and down. The lead screw nut 14 directly drives the lifting plate 7 and the brake top plate 6 to move up and down synchronously through the push rod 8. The brake top plate 6 will drive the pressure plate 11 to move up and down synchronously through the guide column 3 connected to it, and clamp the power transmission line by friction or mechanical limit.

[0061] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.

Claims

1. A single-wire coated walking robot with a brake function, characterized in that, Includes a brake module, wherein the brake module includes a support plate; A locking motor is installed below the support plate. The output shaft of the locking motor passes through the support plate and is coaxially connected to a motor gear located above the support plate. The lead screw gear is located in front of the motor gear and the two mesh. The lead screw gear is fixed coaxially with the lead screw and the lead screw passes downward through the support plate. A lead screw nut is screwed onto the lead screw. The lead screw nut is located below the support plate and fixed to the upper surface of the push plate. The lead screw nut is rigidly connected to one end of the push rod through the push plate. The other end of the push rod is fixed to the lifting plate. The lifting plate is located above the support plate and fixed below the brake top plate. The lifting plate is linked to the pressure plate located below the push plate through guide columns on both sides. The guide columns pass through the support plate and slide with it.

2. The single-wire coated walking robot with a brake function as described in claim 1, characterized in that, The length of the lifting plate is the same as that of the push plate, and the length of the pressure plate is the same as that of the brake top plate. The lengths of the lifting plate, the brake top plate, and the support plate gradually increase.

3. A single-wire coated walking robot with a brake function as described in claim 1, characterized in that, The brake module also includes electromagnets and magnetic plates. The electromagnets are fixed to the lower surface of the support plate and are arranged symmetrically on the left and right sides. Each set of electromagnets is located on the side of the guide column away from the locking motor. The magnetic plates are installed on the upper surface of the pressure plate. The number of magnetic plates is the same as that of the electromagnets and the positions of the magnetic plates correspond one-to-one.

4. A single-wire coated walking robot with a brake function as described in claim 1, characterized in that, A shock-absorbing block is provided between the support plate and the guide column.

5. A single-wire coated walking robot with a brake function as described in claim 4, characterized in that, The shock absorber is made of silicone material and has a honeycomb cavity structure inside. The shock absorber and the guide column are interference fit to provide both radial damping and axial rigid support.

6. A single-wire coated walking robot with a brake function as described in claim 1, characterized in that, The support plate has a left side plate and a right side plate on its left and right sides, respectively. The left side plate and the right side plate are of the same length and are distributed in a corresponding position.

7. A single-wire coated walking robot with a brake function as described in claim 1, characterized in that, It also includes a walking module, which includes a drive motor and a reduction gearbox. The drive motor is fixed to the side of the left side plate, and the reduction gearbox is located to the left of the drive motor. The output shaft of the drive motor is connected to the reduction gearbox.

8. A single-wire coated walking robot with a brake function as described in claim 7, characterized in that, The gearbox includes a first bevel gear and a second bevel gear, which mesh perpendicularly at 90 degrees. The first bevel gear is coaxially arranged with the output shaft of the drive motor, and the second bevel gear is located to the left of the first bevel gear and fixed to the left side plate.

9. A single-wire coated walking robot with a brake function as described in claim 7, characterized in that, The walking module also includes a drive shaft and a V-shaped friction wheel. The drive shaft includes a first drive shaft and a second drive shaft. The first drive shaft and the second drive shaft are symmetrically arranged below the two sides of the support plate, and the first drive shaft is located to the left of the second drive shaft. Both ends of the first drive shaft and the second drive shaft are equipped with V-shaped friction wheels. The first drive shaft is coaxially fixed with the output end of the second bevel gear.

10. A single-wire coated walking robot with a brake function as described in claim 7, characterized in that, The walking module also includes a synchronous belt drive mechanism, which includes a driving synchronous belt pulley, a driven synchronous belt pulley, and a synchronous belt. The driving synchronous belt pulley is coaxially connected to the first drive shaft, and the driven synchronous belt pulley is linked to the second drive shaft through the synchronous belt.

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