A hook assembly and a self-lifting online inspection robot

Abstract

This utility model discloses a hook assembly and a self-lifting online inspection robot. The hook assembly includes a hook, a suspension rope, an elastic telescopic seat, and a support. The elastic telescopic seat is rotatably mounted on the support and, under external force, can rotate to a vertical or tilted state. The top of the elastic telescopic seat has an insertion hole adapted to the base of the hook. One end of the suspension rope is connected to the base of the hook, and the other end passes through the elastic telescopic seat to connect to a cable winding mechanism. The self-lifting online inspection robot includes the aforementioned two hook assemblies and corresponding rotation drive mechanisms on the body to drive and control the corresponding elastic telescopic seats to rotate to a vertical or tilted state. This solution solves the problem that current online inspection robots are unsuitable for obstacle-crossing when moving along the contact line because their hook assemblies can obstruct obstacles such as the contact line's suspension ropes.

Description

Technical Field

[0001] This utility model relates to the field of automatic inspection technology for overhead power distribution lines, and in particular to a hook assembly and a self-lifting online inspection robot. Background Technology

[0002] With the rapid development of electrified railways and urban rail transit, the safety inspection of the overhead contact system is of paramount importance. Among them, online inspection robots have a wide range of application prospects in overhead contact system inspection operations due to their advantages such as high work efficiency and the ability to avoid the dangers of manual operation in high-risk environments.

[0003] In order to enable the automatic loading and unloading of online inspection robots, existing inspection robots are usually equipped with hooks and cable reeling devices at the front and rear ends of the robot body, respectively. By suspending the hooks on the line and cooperating with the cable reeling devices connected to the hook ropes, the robot can lift and unload the line. For details, please refer to the "A self-lifting live insulating coating robot and lifting system" disclosed in Chinese patent with patent number "CN 210490263U".

[0004] However, existing inspection robots still have many shortcomings; for example, they are not suitable for robots with online obstacle crossing capabilities. When the robot walks along the guide wire or contact line to the location of obstacles such as the hanger, the hook structure will hinder the robot's obstacle crossing. Utility Model Content

[0005] This utility model discloses a hook assembly and a self-lifting online inspection robot to solve the problem that current online inspection robots are unsuitable for obstacle crossing when walking along the contact line because their hook assembly can be blocked by obstacles such as the slings of the contact line.

[0006] To solve the above problems, the present invention adopts the following technical solution:

[0007] In a first aspect, this utility model provides a hook assembly, which includes a hook, a lifting rope, an elastic telescopic seat, and a support; the elastic telescopic seat is rotatably mounted on the support, and under the action of external force, the elastic telescopic seat is used to rotate to a vertical state and an inclined state, and the top of the elastic telescopic seat is provided with an insertion hole adapted to the base of the hook; one end of the lifting rope is connected to the base of the hook, and the other end of the lifting rope passes through the elastic telescopic seat for connection to a winding and unwinding reel mechanism.

[0008] Optionally, the elastic telescopic seat includes a cylindrical structure with an insertion hole at the top, and a movable seat connected to an elastic element is provided inside the cylindrical body. When the movable seat is subjected to force, it is used to move up and down along the axial direction of the cylindrical body. Both the movable seat and the bottom center of the cylindrical body are provided with a threading hole adapted to the suspension rope.

[0009] Optionally, the cylinder has a through hole extending from the thread hole at the bottom of the cylinder to the side wall of the cylinder, and the through hole is located on the side of the cylinder corresponding to the back of the hook, for the cylinder to avoid the suspension rope during rotation; the connection end of the suspension rope to the base of the hook is located on the rotation axis of the cylinder or above the rotation axis of the cylinder.

[0010] Optionally, the hook is configured with an eccentric structure, and the center of gravity of the hook is biased towards the side where the back of the hook is located.

[0011] Optionally, the base of the hook is provided with a structural layer made of wear-resistant material; or, the hook is a structural component with at least its base made of wear-resistant material.

[0012] Optionally, the elastic telescopic seat is rotatably mounted on the support via a rotating shaft, and the free end of the rotating shaft is provided with a crank structure for cooperating with the rotation drive mechanism.

[0013] Based on the hook assembly with the above structure, this utility model also provides a self-lifting online inspection robot, which includes a body and a first hook assembly, a second hook assembly, and a take-up and unwinding reel mechanism disposed on the body, wherein the first hook assembly and the second hook assembly are both configured as hook assemblies with the above structure; the support is fixedly disposed on the body, and the rotation direction of the elastic telescopic seat is perpendicular to the extension direction of the contact line; a guide assembly is also disposed on the body between the support and the take-up and unwinding reel, and the other ends of the lifting ropes of the first hook assembly and the second hook assembly are respectively guided by the corresponding guide assembly and connected to the take-up and unwinding reel mechanism; and a rotation drive mechanism is also disposed on the body near the elastic telescopic seat for driving and controlling the elastic telescopic seat to rotate to a vertical state and an inclined state away from the contact line.

[0014] Optionally, the guide assembly includes a guide wheel bracket and two pairs of guide wheels; of the two pairs of guide wheels, one pair is disposed above the guide wheel bracket and the other pair is disposed below the guide wheel bracket, and the guiding direction of the lower pair of guide wheels is toward the direction of the take-up and unwinding reel mechanism, and the upper pair of guide wheels is located below the elastic telescopic seat, and its guiding direction is perpendicular to the guiding direction of the lower pair of guide wheels.

[0015] The technical solution adopted in this utility model can achieve the following beneficial effects:

[0016] The hook assembly and self-lifting online inspection robot disclosed in this utility model, after the robot body is suspended on the contact line by its obstacle-crossing walking mechanism upon deployment, the cable reel structure synchronously releases the slings of the first and second hook assemblies. The elastic telescopic seat, under its own elastic restoring force, drives the hook upwards away from the contact line. Then, the rotation drive mechanism drives and controls the elastic telescopic seat and the hook to rotate towards the back of the hook, tilting it away from the contact line. This allows the hook to avoid obstruction from the contact line's slings and other structures, preventing the hook from hindering the robot's obstacle-crossing movement. When the machine descends, the drive mechanism rotates the elastic telescopic seat and hook until the hook is in a vertical position above the contact line. Then, the reel mechanism synchronously reels the ropes of the first and second hook assemblies, causing the hook to press the elastic telescopic seat downwards and suspend it on the contact line. Next, the obstacle-crossing walking mechanism of the machine releases and detaches from the contact line, and controls the reel mechanism to continue releasing the rope, allowing the machine to descend to a height close to the ground to complete the landing. Therefore, this invention can solve the problem of obstacles such as the hook assembly and the contact line's slings blocking the machine's obstacle-crossing movement along the contact line. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram of the structure of the self-elevating online inspection robot disclosed in an embodiment of the present invention;

[0019] Figure 2 This is a partial enlarged view of the first part of the self-elevating online inspection robot disclosed in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the winding and unwinding reel mechanism disclosed in an embodiment of the present invention;

[0021] Figure 4 This is a side view of the take-up and unwinding reel mechanism disclosed in an embodiment of the present invention;

[0022] Figure 5 This is a partial enlarged view of the second part of the self-elevating online inspection robot disclosed in the embodiments of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure in which the hook and the elastic telescopic seat are in a plug-in engagement as disclosed in an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure in which the hook and the elastic telescopic seat are separated, as disclosed in an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the elastic telescopic seat disclosed in an embodiment of the present invention;

[0026] Figure 9 This is a cross-sectional view of the elastic telescopic seat disclosed in an embodiment of the present invention;

[0027] Figure 10 This is a schematic diagram of the structure of the guide component disclosed in an embodiment of the present invention;

[0028] Explanation of reference numerals in the attached figures:

[0029] 100-Cable winding and unwinding mechanism; 110-Rotary drive mechanism; 111-Worm gear structure; 112-First worm gear; 113-Second worm gear; 120-First winding reel; 121-First drive shaft; 122-Gear ring; 123-Outer edge; 124-Cable groove; 130-Second winding reel; 131-Second drive shaft; 140-Slide mechanism; 141-First arc-shaped part; 142-Second arc-shaped part; 143-First slide; 144-Second slide; 145-Elastic element.

[0030] 200-Body, 201-Mounting shaft, 210-First hook assembly, 211-Back of hook, 212-Base of hook, 213-Cylinder, 214-Through hole, 215-Rotating shaft, 216-Crank, 217-Moving seat, 218-Elastic element, 220-Second hook assembly, 230-Telescopic mechanism, 240-Guide assembly, 241-A pair of upper guide wheels, 242-A pair of lower guide wheels, 243-Guide wheel bracket, 250-Hanging rope, 300-Contact line. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] The technical solutions disclosed in the various embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0033] Please refer to Figures 1 to 10As shown in the figure, this utility model embodiment discloses a self-lifting online inspection robot. The disclosed self-lifting online inspection robot includes a body 200, a first hook assembly 210 and a second hook assembly 220 respectively disposed at the front end and rear end of the body 200, and a wire winding and unwinding reel mechanism 100 disposed on the body 200.

[0034] The first hook assembly 210 and the second hook assembly 220 each include a hook, a lifting rope 250, and an elastic telescopic seat. The elastic telescopic seat is rotatably mounted on the body 200, and the rotation direction of the elastic telescopic seat is perpendicular to the extension direction of the contact line 300. One end of the lifting rope 250 is connected to the base 212 of the hook, and the other end of the lifting rope 250 passes through the elastic telescopic seat and is connected to the winding and unwinding reel mechanism 100 mounted on the body 200. A rotation drive mechanism is also provided on the body 200 near the elastic telescopic seat to drive and control the elastic telescopic seat to rotate to a vertical state and to an inclined state away from the contact line 300. The top of the elastic telescopic seat is provided with an insertion hole that is adapted to the base 212 of the hook.

[0035] Upon launch, the hooks of the first hook assembly 210 and the second hook assembly 220 are suspended on the contact line 300. Then, the take-up and undo reel mechanism 100 is controlled to synchronously reel in the suspension ropes 250 of the first hook assembly 210 and the second hook assembly 220, causing the machine body 200 to rise. When the base 212 of the hook enters the insertion hole of the elastic telescopic seat, the take-up and undo reel mechanism 100 continues to reel in the rope, compressing the hook against the elastic telescopic seat until the obstacle-crossing walking mechanism of the machine body 200 reaches a height where it can be suspended from the contact line 300. At this point, the machine body 200 is suspended by its obstacle-crossing walking mechanism. The hook is attached to the contact line 300. Then, the reel beats the drum to synchronously release the rope 250 of the first hook assembly 210 and the second hook assembly 220. Under the action of its own elastic restoring force, the elastic telescopic seat drives the hook upward away from the contact line 300. Next, the drive mechanism drives and controls the elastic telescopic seat and the hook to rotate in the direction of the hook's back 211 to an inclined state away from the contact line 300, so that the hook can avoid the slings and other structures of the contact line 300, and avoid the hook and slings and other structures from obstructing the obstacle crossing of the machine body 200.

[0036] When the machine is unloaded, the drive mechanism drives the elastic telescopic seat and hook to rotate to a vertical position where the hook is above the contact line 300. Then, the winding and unwinding reel mechanism 100 is controlled to synchronously wind up the ropes 250 of the first hook assembly 210 and the second hook assembly 220, causing the hook to squeeze the elastic telescopic seat downward and suspend it on the contact line 300. Next, the obstacle-crossing walking mechanism of the machine body 200 releases and disengages from the contact line 300, and the winding and unwinding reel mechanism 100 is controlled to continue unwinding the line, causing the machine body 200 to descend to a height close to the ground to complete the landing.

[0037] Specifically, as shown in Figure 1 and Figure 5 As shown, the body 200 is provided with a support adapted to the elastic telescopic seat. The elastic telescopic seat is rotatably mounted on the support via a rotating shaft 215. The rotating drive mechanism cooperates with the rotating shaft 215, thereby driving and controlling the rotating shaft 215 to rotate and causing the elastic telescopic seat to rotate together, so that the hook can rotate toward / away from the contact line 300.

[0038] Meanwhile, the elastic telescopic seat includes a cylindrical body 213 structure with an insertion hole at the top. The cylindrical body 213 is mounted on a support via a rotating shaft 215, and a movable seat 217 connected to an elastic element 218 such as a spring or sheet is provided inside the cylindrical body 213. The movable seat 217 can move up and down along the axis of the cylindrical body 213. Furthermore, a wire hole is provided at the center of the bottom of both the movable seat 217 and the cylindrical body 213, so that the lifting rope 250 of the hook assembly can pass through the elastic telescopic seat and connect to the corresponding reel. In this way, the lifting rope 250 can play a guiding role so that when the reel is winding up the line, the base 212 of the hook can be aligned and inserted into the cylindrical body 213 and the movable seat 217.

[0039] In the process of the rotation drive mechanism driving and controlling the elastic telescopic seat and hook to rotate in tilted and vertical states, in order to avoid the length of the hoisting rope 250 affecting its normal rotation, it is usually necessary to control the first reel 120 and the second reel 130 to perform additional corresponding line winding and unwinding actions during the rotation of the elastic telescopic seat and hook. This not only increases the control difficulty of the first reel 120 and the second reel 130, but also increases the operational risk due to the influence of the length of the hoisting rope 250 during winding and unwinding.

[0040] Therefore, this embodiment also improves the structure of the elastic telescopic seat by opening a through hole 214 in the cylinder 213. The through hole 214 extends from the wire hole at the bottom of the cylinder 213 to the side wall of the cylinder 213, and the through hole 214 is located on the side of the cylinder 213 corresponding to the back 211 of the hook, so as to avoid the suspension rope 250 during the rotation of the cylinder 213. The connection end of the suspension rope 250 and the base 212 of the hook is located on the rotation axis 215 line of the cylinder 213 or above the rotation axis 215 line of the cylinder 213.

[0041] By using the through hole 214 in the cylinder 213, the influence of the cylinder 213 on the lifting rope 250 can be avoided during the rotation of the elastic telescopic seat and the hook. This allows the length of the lifting rope 250 connected to the hook to remain constant, thereby avoiding additional winding and unwinding actions of the first reel 120 and the second reel 130. This reduces the control actions and difficulty of the first reel 120 and the second reel 130, and reduces the impact of the winding and unwinding length of the lifting rope 250 on the operation process, which is beneficial to safe operation.

[0042] Meanwhile, as one possible implementation of the rotation drive mechanism, the rotation drive mechanism can be an existing telescopic mechanism 230, such as an electric telescopic rod or a pneumatic telescopic rod; in order to enable the actuator of the telescopic mechanism 230 to drive the rotating shaft 215 to rotate, a crank 216 that cooperates with the actuator of the telescopic mechanism 230 is provided at the end of the rotating shaft 215; at the same time, the hook can adopt an eccentric design with the center of gravity biased towards the side where the back is located.

[0043] When the elastic telescopic seat and hook need to rotate to a vertical position, the actuator of the telescopic mechanism 230 can extend to drive the rotating shaft 215 to rotate via the crank 216, thereby causing the elastic telescopic seat to rotate to a vertical position along with the rotating shaft 215. When the elastic telescopic seat and hook need to rotate to an inclined position deviating from the contact line 300, the actuator of the telescopic mechanism 230 retracts. At this time, the gravity effect of the eccentric design of the hook can be used to make the elastic telescopic seat and hook automatically rotate to the inclined position. It is easy to understand that, in order to ensure that the crank 216 and the actuator of the telescopic mechanism 230 can maintain effective contact during the rotation of the crank 216, the area of ​​the crank 216 that mates with the actuator of the telescopic mechanism 230 is preferably designed with an arc-shaped structure, thereby avoiding the problem of jamming between the crank 216 and the actuator of the telescopic mechanism 230.

[0044] In this embodiment, in order to ensure that the hoisting rope 250 passing through the elastic telescopic seat can reliably be wound up and unwound via the reel, the guide assembly 240 preferably adopts the following... Figure 10 The structure shown includes a guide assembly 240 comprising a guide wheel bracket 243 and two pairs of guide wheels respectively positioned above and below the guide wheel bracket 243. The guide direction of the lower pair of guide wheels 242 faces the direction of the winding reel, while the upper pair of guide wheels 241 are located below the elastic telescopic seat, and their guide direction is perpendicular to the guide direction of the lower pair of guide wheels 243. The lifting rope 250 is positioned between the pair of guide wheels. Thus, the upper and lower pairs of guide wheels guide the lifting rope 250 and prevent the section of the rope 250 near the winding reel from moving forward, backward, left, or right, ensuring the effective winding and unwinding of the reel.

[0045] As one possible implementation of the take-up and undo reel mechanism 100, such as Figures 2 to 4The winding and unwinding reel structure may include a first reel 120, a second reel 130, and a rotary drive mechanism 110. The machine body 200 is provided with a mounting shaft 201. The first reel 120 and the second reel 130 are rotatably mounted on the mounting shaft 201 through bearing structures and are arranged in a flat, coaxial configuration. Both the first reel 120 and the second reel 130 are provided with circumferentially distributed gear rings. The rotary drive mechanism 110 includes a drive motor, a first transmission shaft 121, and a second transmission shaft 131. The output shaft of the drive motor is connected to the first transmission shaft 121 and the second transmission shaft 131 through a transmission assembly. The first transmission shaft 121 meshes with the gear ring of the first reel 120, and the second transmission shaft 131 meshes with the gear ring of the second reel 130. The lifting rope 250 of the first hook assembly 210 is connected to the first reel 120, and the lifting rope 250 of the second hook assembly 220 is connected to the second reel 130.

[0046] The first drive shaft 121 and the second drive shaft 131 rotate synchronously in opposite directions under the drive of the drive motor through the transmission assembly, and drive the first reel 120 and the second reel 130 to rotate synchronously in opposite directions, thereby realizing the synchronous winding and unwinding control of the sling 250 of the front hook and the rear hook of the machine body 200.

[0047] For example, when the drive motor controls the first reel 120 to rotate clockwise and the second reel 130 to rotate counterclockwise, the unwinding action can be completed; when the drive motor controls the first reel 120 to rotate counterclockwise and the second reel 130 to rotate clockwise, the winding action can be completed. Alternatively, when the drive motor controls the first reel 120 to rotate clockwise and the second reel 130 to rotate counterclockwise, the winding action can be completed; when the drive motor controls the first reel 120 to rotate counterclockwise and the second reel 130 to rotate clockwise, the unwinding action can be completed.

[0048] Therefore, compared with existing online inspection robots, it can control the synchronous winding and unwinding of two reels with a single drive motor, reducing the number of drive motors required. This not only reduces the energy consumption of winding and unwinding control and helps extend the operation time, but also makes the winding and unwinding reel mechanism 100 more compact, reducing its space occupation and contributing to the lightweight design of the online inspection robot. Furthermore, the first reel 120 and the second reel 130 are set flat on the body 200, which helps to reduce the design height of the online inspection robot, saving space and reducing the problem of large swings during operation due to the low center of gravity of the online inspection robot.

[0049] Specifically, such as Figure 3As shown, the transmission assembly may include a first worm gear 112 and a second worm gear 113; the output shaft of the drive motor is provided with a worm structure 111, the first worm gear 112 is sleeved on the first transmission shaft 121, the second worm gear 113 is sleeved on the second transmission shaft 131, and the first worm gear 112 and the second worm gear 113 are respectively located on both sides of the output shaft of the drive motor, and mesh with the output shaft of the drive motor through the worm structure 111.

[0050] Meanwhile, the output shaft axis of the drive motor can be perpendicular to the axis of the first transmission shaft 121 and the second transmission shaft 131, allowing the drive motor to be mounted horizontally on the body 200. The drive motor can be rotated via the worm gear structure 111. The first transmission shaft 121 and the second transmission shaft 131 can be mounted vertically on the body 200 in the height direction, and the first and second rollers 120 and 130 can be arranged on the body 200 in a horizontal, coaxial rotational configuration. This avoids the problem of increased height design dimensions of the body 200 due to the vertical mounting of the drive motor's output shaft, effectively reducing the height design dimensions of the body 200 and improving the stability of the online inspection robot.

[0051] In the wire winding and unwinding reel mechanism 100 disclosed in this embodiment, in order to address the problem that the drive motor that drives the first drive shaft 121 and the second drive shaft 131 to rotate synchronously is faulty and causes the online inspection robot to be unable to land on the contact line 300, the first drive shaft 121 and the second drive shaft 131 are preferably drive shafts with a clutch structure.

[0052] It should be noted that the drive shaft with a clutch structure is existing technology. In this embodiment, the shaft structure is applied to the first drive shaft 121 and the second drive shaft 131 according to design requirements. It typically includes a drive shaft and a driven shaft, and the drive shaft and the driven shaft are connected by a clutch structure. The drive shafts of the first drive shaft 121 and the second drive shaft 131 are both connected to the output shaft of the drive motor through a transmission assembly. The driven shafts of the first drive shaft 121 and the second drive shaft 131 respectively mesh with the gear rings of the first reel 120 and the second reel 130.

[0053] When the drive motor that drives the first drive shaft 121 and the second drive shaft 131 to rotate synchronously is working normally, the control clutch structure makes the driving shaft and driven shaft of the first drive shaft 121 and the second drive shaft 131 engaged. In this way, the drive motor can drive the first reel 120 and the second reel 130 to rotate synchronously through the first drive shaft 121 and the second drive shaft 131, so that the online inspection robot can land on the contact line 300.

[0054] When the drive motor that drives the first drive shaft 121 and the second drive shaft 131 to rotate synchronously fails, the control clutch structure separates the driving shaft and driven shaft of the first drive shaft 121 and the second drive shaft 131. This allows the driven shaft to rotate freely, and the first reel 120 and the second reel 130 can automatically rotate under the gravity of the line inspection robot to lay the line, so that the line inspection robot can land on the contact line 300.

[0055] Preferably, such as Figure 2 and Figure 3 As shown, the take-up and unwinding reel mechanism 100 may further include a speed reduction assembly; the speed reduction assembly includes a drive mechanism, a first friction member and a second friction member, both of which are connected to the drive mechanism, and the first friction member is located near the first reel 120, and the second friction member is located near the second reel 130. Under the control of the drive mechanism, the first friction member and the second friction member respectively have a first state of contact with the first reel 120 and the second reel 130, and a second state of being far away from the first reel 120 and the second reel 130.

[0056] When the drive motor that drives the first drive shaft 121 and the second drive shaft 131 to rotate synchronously malfunctions, and the clutch structure of the first drive shaft 121 and the second drive shaft 131 controls the separation of the active shaft and the driven shaft, the drive mechanism controls the first friction element to contact the first roller 120 and the second friction element to contact the second roller 130. This contact friction can control and reduce the free rotation speed of the first roller 120 and the second roller 130, avoiding safety issues such as damage to the online inspection robot caused by free fall off the line under its own gravity.

[0057] To facilitate the contact and engagement between the first winding wheel 120 and the first friction element, the second winding wheel 130 and the second friction element, both the first winding wheel 120 and the second winding wheel 130 can be provided with an annular outer edge protruding along the axial direction; both the first friction element and the second friction element can be provided with a first arc-shaped portion 141 adapted to the annular outer edge, so that the design of the arc-shaped portion and the outer edge can well ensure that the winding wheel and the friction element can form effective contact, which is beneficial to controlling the speed of the winding wheel.

[0058] The first arc-shaped portion 141 is located on the outer side of the annular outer eaves, and one end of the first arc-shaped portion 141 is rotatably configured. The other end of the first arc-shaped portion 141 is connected to the drive mechanism. Thus, by controlling the rotation of the first arc-shaped portion 141 through the drive mechanism, the contact / separation of the first friction member and the first winding wheel 120, the second friction member and the second winding wheel 130 can be achieved. This not only facilitates the installation of the first friction member and the second friction member, but also has the advantages of a simple and effective control structure.

[0059] It is easy to understand that the first friction member and the second friction member may also include a second arc-shaped portion 142 adapted to the annular outer edge. The second arc-shaped portion 142 is located on the opposite side of the annular outer edge from the first arc-shaped portion 141, and one end of the second arc-shaped portion 142 is rotatably configured, while the other end of the second arc-shaped portion 142 is connected to the drive mechanism. Thus, the first arc-shaped portion 141 and the second arc-shaped portion 142 can form a structure that encircles the annular outer edge, thereby improving the contact deceleration effect between the friction member and the roller. The drive mechanism can drive and control the first arc-shaped portion 141 and the second arc-shaped portion 142 to rotate towards each other to a first state of contact with the annular outer edge, and to rotate away from each other to a second state of moving away from the annular outer edge.

[0060] As one possible implementation of the drive mechanism, the drive mechanism can be an existing slide mechanism 140, and the slide mechanism 140 is provided with a first slide 143 and a second slide 144 that move relative to each other / backwards. The first arcuate portion 141 of the first friction member and the second friction member are both connected to the first slide 143, and the second arcuate portion 142 of the first friction member and the second friction member are both connected to the second slide 144.

[0061] When the slide mechanism 140 controls the relative movement of the first slide 143 and the second slide 144, the first arcuate portion 141 and the second arcuate portion 142 of the first friction member rotate relative to each other to a first state of contact with the annular outer edge of the first roller 120, and the first arcuate portion 141 and the second arcuate portion 142 of the second friction member rotate relative to each other to a first state of contact with the annular outer edge of the second roller 130, thereby realizing the deceleration rotation control of the first roller 120 and the second roller 130.

[0062] When the slide mechanism 140 controls the first slide 143 and the second slide 144 to move in opposite directions, the first arc-shaped portion 141 and the second arc-shaped portion 142 of the first friction member rotate in opposite directions to a second state separated from the annular outer edge of the first roller 120, and the first arc-shaped portion 141 and the second arc-shaped portion 142 of the second friction member rotate in opposite directions to a second state separated from the annular outer edge of the second roller 130, thereby realizing the normal rotation of the first roller 120 and the second roller 130.

[0063] Specifically, the slide mechanism 140 can be an existing pneumatic slide mechanism 140; preferably, an elastic element 145 can be provided between the first slide 143 and the second slide 144, so that when the pneumatic sliding mechanism controls the relative movement of the first slide 143 and the second slide 144, the elastic element 145 can be compressed. In this way, when the first slide 143 and the second slide 144 need to move in opposite directions, the restoring force generated when the elastic element 145 is compressed can be used to elastically reset the first slide 143 and the second slide 144, thus ensuring the reset control effect of the first slide 143 and the second slide 144.

[0064] Meanwhile, in this embodiment, the clutch structure of the first drive shaft 121 and the second drive shaft 131 can be selected from existing pneumatic clutch structures. In this way, the pneumatic control system of the pneumatic clutch structure of the first drive shaft 121 and the second drive shaft 131 can be integrated with the pneumatic control system of the pneumatic slide mechanism 140 and share a common air source device, which is beneficial to reduce the number of air source devices and reduce costs.

[0065] It is readily understood that, preferably, the hook disclosed in this embodiment can have a structural layer made of wear-resistant material provided at the base 212 of the hook; or, the base 211 of the hook, or even the entire hook, can be designed as a structural component made of wear-resistant material; thereby reducing the wear of the hook, especially the base 212 of the hook, and helping to extend the service life of the hook.

[0066] The above embodiments of this utility model mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be described in detail here.

[0067] The above description is merely an embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A hook assembly, characterized in that, It includes a hook, a lifting rope, an elastic telescopic seat, and a support; the elastic telescopic seat is rotatably mounted on the support, and under the action of external force, the elastic telescopic seat is used to rotate to a vertical state and an inclined state, and the top of the elastic telescopic seat is provided with an insertion hole that matches the base of the hook; one end of the lifting rope is connected to the base of the hook, and the other end of the lifting rope passes through the elastic telescopic seat for connection to a winding and unwinding reel mechanism.

2. The hook assembly according to claim 1, characterized in that, The elastic telescopic seat includes a cylindrical structure with an insertion hole at the top, and a movable seat connected to an elastic element is provided inside the cylindrical body. When the movable seat is subjected to force, it is used to move up and down along the axis of the cylindrical body. Both the movable seat and the bottom center of the cylindrical body are provided with a threading hole adapted to the suspension rope.

3. The hook assembly according to claim 2, characterized in that, The cylinder has a through hole extending from the thread hole at the bottom of the cylinder to the side wall of the cylinder, and the through hole is located on the side of the cylinder corresponding to the back of the hook, so as to avoid the suspension rope during the rotation of the cylinder; the connection end of the suspension rope to the base of the hook is located on the rotation axis of the cylinder or above the rotation axis of the cylinder.

4. The hook assembly according to any one of claims 1 to 3, characterized in that, The hook is configured with an eccentric structure, and the center of gravity of the hook is biased towards the side where the back of the hook is located.

5. The hook assembly according to claim 4, characterized in that, The base of the hook is provided with a structural layer made of wear-resistant material; or, the hook is a structural component with at least the base made of wear-resistant material.

6. The hook assembly according to any one of claims 1 to 3, characterized in that, The elastic telescopic seat is rotatably mounted on the support via a rotating shaft, and the free end of the rotating shaft is provided with a crank structure for cooperating with the rotation drive mechanism.

7. A self-lifting online inspection robot, characterized in that, The device includes a body and a first hook assembly, a second hook assembly, and a take-up / release reel mechanism disposed on the body. Both the first hook assembly and the second hook assembly are configured as described in any one of claims 1 to 6. The support is fixedly disposed on the body, and the rotation direction of the elastic telescopic seat is perpendicular to the extension direction of the contact line. A guide assembly is also disposed on the body between the support and the take-up / release reel. The other ends of the lifting ropes of the first hook assembly and the second hook assembly are respectively guided by the guide assembly and connected to the take-up / release reel mechanism. A rotation drive mechanism is also disposed on the body near the elastic telescopic seat to drive and control the elastic telescopic seat to rotate to a vertical state and to an inclined state deviating from the contact line.

8. The self-elevating online inspection robot according to claim 7, characterized in that, The guiding assembly includes a guide wheel bracket and two pairs of guide wheels; of the two pairs of guide wheels, one pair is located above the guide wheel bracket and the other pair is located below the guide wheel bracket, and the guiding direction of the lower pair of guide wheels is towards the direction of the take-up and unwinding reel mechanism, while the upper pair of guide wheels is located below the elastic telescopic seat, and its guiding direction is perpendicular to the guiding direction of the lower pair of guide wheels.

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