Cable climbing robot

Abstract

The utility model relates to a cable climbing robot, which is used for detecting the damage of PE (Poly Ethylene) sheaths on the surfaces of a main cable of a suspension bridge, a sling and an inhaul cable of a cable-stayed bridge, and comprises a two-half rack, a driving device, a climbing device, a holding device, an anti-deviation device and a camera assembly, the driving device is in bolted connection with the two-half type rack, the crawling device is in bolted connection with the driving device, the enclasping device is in bolted connection with the two-half type rack, the deviation preventing device is in bolted connection with the two-half type rack, and the camera assembly is in bolted connection with the two-half type rack. The device is simple in structure, convenient to disassemble and assemble, reliable in operation and capable of being suitable for cables with different diameters, and the holding force is dynamically adjusted; the cable climbing robot solves the problems that when an existing cable climbing robot faces cables with different diameters, loads and environmental conditions, clamping is not stable, slipping occurs or energy consumption is too high, and the stability and safety of the cable climbing robot are improved.

Description

Technical Field

[0001] This utility model relates to a cable-climbing robot, specifically, a cable-climbing robot with adjustable gripping force, belonging to the field of robot technology. Background Technology

[0002] As bridges age, regular inspection and maintenance of structures such as main cables and suspenders of suspension bridges and cables of cable-stayed bridges become particularly important. Traditional inspection methods mainly rely on manual inspections or fixed inspection equipment, which have problems such as low efficiency, high cost and high risk. Especially in high-altitude or complex environments, manual operation is not only time-consuming and labor-intensive, but also poses significant safety hazards.

[0003] In recent years, cable-climbing robots, as an automated inspection tool, have been increasingly applied to the inspection and maintenance of bridge cables. These robots move along the cable surface carrying inspection equipment to detect defects such as damage, corrosion, and cracks in the PE sheath. However, most existing cable-climbing robots employ a fixed clamping force design, making it difficult to adapt to cables of different diameters, loads, and environmental conditions. Problems include unstable clamping, slippage, and excessive energy consumption. Especially when facing complex conditions (such as wet, icy, or load-varying cable surfaces), robots with fixed clamping forces often perform poorly, limiting their inspection efficiency and reliability. Therefore, there is an urgent need for a cable-climbing robot with adjustable clamping force, capable of dynamically adjusting the clamping force to adapt to diverse inspection needs and improve the stability and safety of the inspection process. Utility Model Content

[0004] To address the problems existing in the background technology, the purpose of this utility model is to design a cable climbing robot for detecting cable sheath damage that is simple in structure, easy to assemble and disassemble, reliable in operation, and has adjustable clamping force.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution.

[0006] A cable-climbing robot, characterized in that it comprises a two-part frame, a drive unit, a crawling device, a gripping device, an anti-deviation device, and a camera assembly. The two-part frame is constructed from connected aluminum profiles. The drive unit is connected to the two-part frame, the crawling device is connected to the drive unit, the gripping device is connected to the two-part frame, the anti-deviation device is connected to the two-part frame, and the camera assembly is connected to the two-part frame.

[0007] Preferably, the two-part frame comprises aluminum profiles.

[0008] Preferably, the driving device includes a drive motor, a reducer, a synchronous belt, a synchronous pulley, a drive motor mount, and a mounting plate; the drive motor and the drive motor mount are connected, the drive motor mount and the mounting plate are connected by bolts, and the drive motor drives the crawling device to move through the synchronous belt.

[0009] Preferably, the crawling device includes a V-shaped wheel, a wheel seat, a spring seat, and a spring; the wheel seat and the spring seat are connected by bolts, the spring seat and the mounting plate are connected by bolts, and the spring is sleeved between the two spring seats.

[0010] Preferably, the clamping device includes a linear module, a support base, a linear module mounting plate, rods, a support shaft, a V-shaped wheel, and a support column; the linear module includes a clamping motor, a coupling, a lead screw, a lead screw nut, and a guide rail; the linear module and the mounting plate are connected and fixed by bolts; the rods include rod I and rod II, rod I is rotatably connected to the lead screw nut, rod II is rotatably connected to the support shaft, and the V-shaped wheel and the support column are connected by bolts.

[0011] Preferably, the anti-deviation device includes an anti-deviation wheel assembly and an anti-deviation rod; the anti-deviation wheel assembly and the anti-deviation rod are connected by bolts, and the anti-deviation rod is provided with a connection hole. The anti-deviation rod can be connected to the two-half frame by bolts according to the cable diameter by selecting an appropriate connection hole.

[0012] Preferably, the camera assembly includes a camera, a camera bracket, and a camera mounting base; the camera and the camera bracket are connected, the camera bracket and the camera mounting base, and the camera mounting base and the two-piece frame are connected by bolts.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. This utility model adopts a two-half frame, which is made of aluminum profiles connected by corner fittings. It is lightweight, high-strength, can withstand large loads, and is easy to assemble and disassemble.

[0015] 2. In this utility model, a spring is provided between the mounting plate and the wheel assembly of the crawling device, which can alleviate vibration during operation and enhance the running stability and obstacle-crossing ability of the climbing robot;

[0016] 3. This utility model is equipped with a screw clamping device, which enables the robot to be adapted to cables of different diameters and to dynamically adjust the clamping force according to cable diameter, load changes and environmental conditions, thereby improving the stability and adaptability of the detection.

[0017] 4. This utility model is equipped with an anti-deviation device, which is connected to the two halves of the frame by bolts. Different bolt holes can be selected to connect to the two halves of the frame according to the cable diameter, which effectively prevents lateral deviation caused by various protrusions on the surface of the inclined cable, vibration of the climbing robot itself, and uneven distribution of load weight.

[0018] 5. The V-shaped wheel surface of the crawling device in this invention is made of nylon, which has excellent wear resistance and high friction with the cable body, effectively preventing slippage and without damaging the PE layer on the cable body surface. It has a long service life and can meet the needs of continuous testing.

[0019] 6. This utility model has a camera assembly installed on the top of the two-half frame, which can take pictures and inspect the entire surface of the cable during the crawling process. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the following detailed description to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of a cable-climbing robot according to the present invention;

[0022] Figure 2 This is a top view of a cable-climbing robot according to the present invention;

[0023] Figure 3 This is a three-dimensional assembly diagram of the crawling device and drive device for a climbing robot according to the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of a cable-climbing robot gripping device according to the present invention;

[0025] Figure 5 This is a schematic diagram of the anti-deviation device for a climbing robot according to the present invention;

[0026] Figure 6 This is a schematic diagram of the camera assembly structure of a climbing robot according to the present invention;

[0027] In the diagram: 1. Two-half frame; 2. Drive unit; 3. Crawling device; 4. Clamping device; 5. Anti-deviation device; 6. Camera assembly; 7. Cable; 8. Aluminum profile; 9. Drive motor; 10. Reducer; 11. Synchronous belt; 12. Pulley; 13. Drive motor mount; 14. Mounting plate; 15. V-wheel; 16. Wheel seat; 17. Spring seat; 18. Spring; 19. Linear module; 20. Support seat; 21. Linear module mounting base plate; 22. Rod; 23. Support shaft; 24. V-wheel; 25. Support column; 26. Clamping motor; 27. Coupling; 28. Lead screw; 29. ​​Lead screw nut; 20. Guide rail; 31. Rod I and Rod II; 32. Anti-deviation wheel assembly; 33. Anti-deviation rod; 34. Camera; 35. Camera bracket; 36. Camera mounting base. Detailed Implementation Plan

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] As attached Figure 1 As shown, the cable-climbing robot of this utility model includes a two-half frame 1, a drive device 2, a crawling device 3, a gripping device 4, an anti-deviation device 5, a camera assembly 6, and a cable 7. The drive device 2 is connected to the two-half frame 1, the crawling device 3 is connected to the drive device 2, the gripping device 4 is connected to the two-half frame 1, the anti-deviation device 5 is connected to the two-half frame 1, and the camera assembly 6 is connected to the two-half frame 1.

[0030] As attached Figure 2 As shown, the two-part frame includes aluminum profiles 8. The two-part frame is formed by connecting the aluminum profiles 8 through corner brackets, connecting plates, etc.

[0031] As attached Figure 3 As shown, the drive device 2 includes a drive motor 9, a reducer 10, a timing belt 11, a pulley 12, a drive motor base 13, and a mounting plate 14; the drive motor 9 and the drive motor base 13 are connected, and the drive motor base 13 and the mounting plate 14 are connected by bolts; the drive motor 9 drives the crawling device 3 to move through the timing belt 11.

[0032] As attached Figure 3 As shown, the crawling device 3 includes a V-shaped wheel 15, a wheel seat 16, a spring seat 17, and a spring 18; the wheel seat 16 and the spring seat 17 are connected by bolts, the spring seat 17 and the mounting plate 14 are connected by bolts, and the spring 18 is sleeved between the two spring seats 17.

[0033] As attached Figure 4As shown, the clamping device 4 includes a linear module 19, a support base 20, a linear module mounting base 21, rods 22, a support shaft 23, a V-wheel 15, and a support column 24; the linear module 19 includes a clamping motor 25, a coupling 26, a lead screw 27, a lead screw nut 28, and a guide rail 29; the linear module 19 is connected to the mounting base 21 and fixed by bolts; the rod 22 includes rod I 30 and rod II 31, rod I 30 is rotatably connected to the lead screw nut 28, rod II 31 is rotatably connected to the support shaft 23, and the V-wheel 15 and the support column 24 are connected by bolts.

[0034] As attached Figure 5 As shown, the anti-deviation device 5 includes an anti-deviation wheel assembly 32 and an anti-deviation rod 33; the anti-deviation wheel assembly 32 and the anti-deviation rod 33 are connected by bolts, and the anti-deviation rod 33 and the two-half frame 1 are connected by bolts.

[0035] As attached Figure 6 As shown, the camera assembly 6 includes a camera 34, a camera bracket 35, and a camera mounting base 36; the camera 34 and the camera bracket 35 are connected, the camera bracket 35 and the camera mounting base 36, and the camera mounting base 36 and the two-piece frame 1 are connected by bolts.

[0036] In use, the two-half frame, which houses the drive and crawling devices, is fixed to the other half, which houses the clamping device, using a connecting plate. This is then installed on the cable. The clamping device is adjusted to achieve a predetermined clamping force, causing the four V-shaped wheels of the cable-climbing robot to grip the cable. After the robot grips the cable, the anti-deviation device is connected to the two-half frame using bolts, based on the cable's diameter, through appropriate connecting holes. After installation, a camera is activated to inspect the cable's surface for defects. In the initial stage of movement, the drive unit drives the V-shaped wheels of the crawling device to rotate via a drive motor, causing the cable-climbing robot to move along the cable. The clamping device dynamically adjusts the clamping force based on the crawling situation to ensure stability. Specifically, the clamping force is adjusted by a clamping motor, which moves the screw nut along the guide rail, allowing the rod to form different angles. The clamping motor adjusts the clamping force in real time based on sensor feedback signals, ensuring the robot can firmly grip the cable and crawl stably along its surface under different working conditions.

[0037] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and its equivalents... Figure 5 This is a three-dimensional structural assembly drawing of the power component of an automatic bag feeding device according to the present invention.

[0038] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A cable-climbing robot, characterized in that: The system includes a two-half frame (1), a drive unit (2), a crawling device (3), a clamping device (4), an anti-deviation device (5), a camera assembly (6), and a cable (7). The drive unit (2) is connected to the two-half frame (1), the crawling device (3) is connected to the drive unit (2), and the clamping device (4) is connected to the two-half frame (1). The clamping device (4) includes a linear module (19), a support base (20), a linear module mounting plate (21), a rod (22), a support shaft (23), a V-shaped wheel (15), and a support column (24). The linear module (19) includes a clamping motor. (25), coupling (26), lead screw (27), lead screw nut (28), guide rail (29); the linear module (19) and the mounting base plate (21) are connected and fixed by bolts; the rod (22) includes rod I (30) and rod II (31), rod I (30) and the lead screw nut (28) are rotatably connected, rod II (31) and the support shaft (23) are rotatably connected, the V-wheel (15) and the support column (24) are connected by bolts; the anti-deviation device (5) is connected to the two-half frame (1), and the camera assembly (6) is connected to the two-half frame (1).

2. The cable-climbing robot according to claim 1, characterized in that: The two-part frame includes aluminum profiles (8).

3. The cable-climbing robot according to claim 1, characterized in that: The drive device (2) includes a drive motor (9), a reducer (10), a timing belt (11), a timing pulley (12), a drive motor mount (13), and a mounting plate (14); the drive motor (9) and the drive motor mount (13) are connected, the drive motor mount (13) and the mounting plate (14) are connected by bolts, the mounting plate (14) and the two-half frame (1) are connected by bolts, and the drive motor (9) drives the crawling device (3) to move through the timing belt (11).

4. A cable-climbing robot according to claim 1, characterized in that: The crawling device (3) includes a V-shaped wheel (15), a wheel seat (16), a spring seat (17), and a spring (18); the wheel seat (16) and the spring seat (17) are connected by bolts, the spring seat (17) and the mounting plate (14) are connected by bolts, and the spring (18) is fitted between the two spring seats (17).

5. A cable-climbing robot according to claim 1, characterized in that: The anti-deviation device (5) includes an anti-deviation wheel assembly (32) and an anti-deviation rod (33); the anti-deviation wheel assembly (32) and the anti-deviation rod (33) are connected by bolts, and the anti-deviation rod (33) and the two-half frame (1) are connected by bolts.

6. A cable-climbing robot according to claim 1, characterized in that: The camera assembly (6) includes a camera (34), a camera bracket (35), and a camera mounting base (36); the camera (34) and the camera bracket (35) are connected, the camera bracket (35) and the camera mounting base (36), and the camera mounting base (36) and the two-piece frame (1) are connected by bolts.

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