Intelligent walking device

Abstract

The utility model relates to walking device technical field, specifically provide an intelligent walking device including support frame, control unit, self -adaptation clamping mechanism and two first crawl subassembly, self -adaptation clamping mechanism is fixed in support frame, self -adaptation clamping mechanism is in the clamping and has two clamping end, each clamping end is connected with a first crawl subassembly respectively. Self -adaptation clamping mechanism is driven under the control of control unit, whether can drive two clamping end parts away from each other, make self -adaptation clamping mechanism have open state, also can drive two clamping end parts close to each other, make self -adaptation clamping mechanism have clamping state, two first crawl subassembly are embraced tightly in cable when in clamping state, each first crawl subassembly is driven force effect and walks along cable automatically. In this way, when facing the diameter change of cable, the convex structure such as cable clamp, control unit controls self -adaptation clamping mechanism to have proper clamping force, and the clamping force is automatically adjusted through self -adaptation clamping mechanism, and different obstacles are smoothly crossed.

Description

Technical Field

[0001] This utility model belongs to the field of walking device technology, and more specifically, relates to an intelligent walking device. Background Technology

[0002] As a key infrastructure in modern transportation networks, suspension bridges rely heavily on their cables for the main load, making them crucial to the structural safety of the bridge. However, cables are not perfectly regular cylinders; they exhibit variations in diameter and protrusions such as cable clamps. Ordinary walking devices struggle to adapt to these shape changes, making them prone to slippage and jamming. Utility Model Content

[0003] The purpose of this utility model is to provide an intelligent walking device to solve the technical problem that ordinary walking devices in the prior art are difficult to adapt to changes in cable shape and are prone to slipping and jamming.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: An intelligent walking device is provided, which automatically walks along a cable. The intelligent walking device includes a support frame, a control unit, two first crawling components, and an adaptive clamping mechanism with automatically adjustable clamping force. The adaptive clamping mechanism is fixed to the support frame, and its two extended ends are clamping ends in a clamping shape. Each clamping end is connected to one of the first crawling components, and the two first crawling components are opposite to each other. Under the control of the control unit, the adaptive clamping mechanism has an open state (where the two clamping ends are far apart) and a clamping state (where they are close together). In the clamping state, the two first crawling components jointly clamp onto the cable and automatically walk along the cable under the action of driving force. In the open state, the two first crawling components disengage from the cable.

[0005] Furthermore, the adaptive clamping mechanism includes two drive components that can be driven in one direction and two clamping arms. The two drive components are fixed to the support frame and are both controlled and connected to the control unit. One end of each clamping arm is connected to the power output end of one of the drive components, and the other end is the clamping end.

[0006] Furthermore, each clamping arm includes a main arm body, a first leg extending from one end of the main arm body, a second leg extending from the other end of the main arm body, and a third leg extending from the side of the main arm body. The third leg is close to the first leg and is pivotally connected to the power output end of the drive assembly. The first leg is pivotally connected to the support frame. The second leg extends obliquely toward the cable. The first crawling assembly is connected to the end of the second leg.

[0007] Preferably, each of the third legs is in the shape of a "C" or a "V", the extended end of each of the third legs is the clamping end, and the third leg and the main arm body together form a hook shape.

[0008] Furthermore, the support frame includes a main frame, a fixed frame, and two side wings. The two side wings are respectively fixed to the left and right sides of the main frame and extend obliquely toward the cable. The fixed frame is fixed to the side of the main frame facing away from the cable. Both drive components are fixed to the fixed frame, and each first leg is pivotally connected to one of the side wings.

[0009] Preferably, there are two adaptive clamping mechanisms and two fixing frames. The two fixing frames are arranged separately, and each adaptive clamping mechanism is fixed to one of the fixing frames. The clamping ends of the two clamping arms located on the same side of the two adaptive clamping mechanisms are connected to the same first crawling component.

[0010] Furthermore, the first crawling assembly includes a crawling frame with a receiving cavity, two rows of rollers respectively arranged on the left and right sides of the crawling frame, a drive motor arranged in the receiving cavity and driving each row of rollers to roll, and tracks respectively fitted on each row of rollers. Each drive motor is controlled and connected to the control unit. The crawling frame is connected to the clamping end. Each track is in close contact with the cable in the clamping state and crawls along the cable under the drive of each drive motor.

[0011] Preferably, the surface of the crawler frame facing the cable is recessed towards the clamping end to form a clearance groove.

[0012] Preferably, the intelligent walking device further includes a second crawling component, which is pivotally connected to the support frame on the side facing the cable, and each of the first crawling components is pivotally connected to a clamping end, with the two first crawling components and the second crawling component together forming a triangular enclosure clamping the cable.

[0013] Furthermore, the second crawling component has the same structure as the first crawling component, and will not be described in detail again.

[0014] The beneficial effects of the intelligent walking device provided by this utility model are as follows: The intelligent walking device includes a support frame, a control unit, an adaptive clamping mechanism, and two first crawling components. The adaptive clamping mechanism is fixed to the support frame and is in a clamping shape with two clamping ends. Each clamping end is connected to a first crawling component, and the two first crawling components are opposite each other. Under the control of the control unit, the adaptive clamping mechanism can be driven to move the two clamping ends away from each other, so that the adaptive clamping mechanism is in an open state to detach from the cable; it can also be driven to move the two clamping ends closer to each other, so that the adaptive clamping mechanism is in a clamping state. When in the clamping state, the two first crawling components jointly hold the cable tightly, and each first crawling component moves automatically along the cable under the action of driving force. In this way, when facing changes in cable diameter, cable clamps, or other protruding structures, the control unit controls the adaptive clamping mechanism to have an appropriate clamping force. By automatically adjusting the clamping force through the adaptive clamping mechanism, it can smoothly cross different obstacles without slipping or getting stuck. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a perspective view of the intelligent walking device provided in an embodiment of the present utility model;

[0017] Figure 2 This is another perspective view of the intelligent walking device provided in this embodiment of the utility model.

[0018] The following are the labeling elements in the figure:

[0019]

[0020] Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0022] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly fixed to or set on the other component, or it may be indirectly fixed to or set on the other component via a third component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component, or it may be indirectly connected to the other component via a third component.

[0023] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Please refer to the following as well. Figure 1 and Figure 2 This utility model provides an intelligent walking device 200 that automatically walks along a cable. The intelligent walking device 200 includes a support frame 210, a control unit, two first crawling components 220, and an adaptive clamping mechanism 230 with two clamping ends 231 in a clamping shape. The adaptive clamping mechanism 230 is fixed to the support frame 210 and can automatically adjust the clamping force between the two clamping ends 231. Each clamping end 231 is connected to a first crawling component 220, and the two first crawling components 220 are opposite each other. Under the control of the control unit, the adaptive clamping mechanism 230 has an open state (moving the two clamping ends 231 away from each other) and a clamping state (moving them closer together). In the clamping state, the two first crawling components 220 are tightly clamped to the cable and automatically walk along the cable under the action of driving force; in the open state, the two first crawling components 220 are detached from the cable.

[0026] In this embodiment, the intelligent walking device 200 includes a support frame 210, a control unit, an adaptive clamping mechanism 230, and two first crawling components 220. The adaptive clamping mechanism 230 is fixed to the support frame 210 and is in a clamping shape with two clamping ends 231. Each clamping end 231 is connected to a first crawling component 220, and the two first crawling components 220 are opposite to each other. Under the control of the control unit, the adaptive clamping mechanism 230 can be driven to move the two clamping ends 231 away from each other, so that the adaptive clamping mechanism 230 is in an open state to detach from the cable; it can also be driven to move the two clamping ends 231 closer to each other, so that the adaptive clamping mechanism 230 is in a clamping state. When in the clamping state, the two first crawling components 220 are tightly gripping the cable, and each first crawling component 220 moves automatically along the cable under the action of driving force. In this way, when faced with changes in cable diameter or protruding structures such as cable clamps, the control unit controls the adaptive clamping mechanism 230 to have an appropriate clamping force. The adaptive clamping mechanism 230 automatically adjusts the clamping force to smoothly overcome different obstacles without slipping or getting stuck.

[0027] The intelligent walking device 200 can carry a load and move along the cable. In this embodiment, the intelligent walking device 200 is equipped with a cable surface defect detection device, which can independently complete the fine inspection of the cable.

[0028] In this embodiment, the control unit is installed on the support frame 210 and is connected to the main control console on the ground to control the intelligent walking device 200 in the air from the ground.

[0029] Furthermore, the adaptive clamping mechanism 230 includes two drive components 232 that can be driven in one direction and two clamping arms 233. The two drive components 232 are fixed to the support frame 210 and are both connected to the control unit. One end of each clamping arm 233 is connected to the power output end of a drive component 232, and the other end is the clamping end 231.

[0030] Two clamping arms 233 encircle the cable from left to right. Driven by the drive components 232, the two clamping arms 233 drive their respective first crawling components 220 to tighten the cable towards each other, keeping them in a clamped state. They can also be driven to separate, loosen, or move away from the cable, keeping them in an open state. The clamping force is adaptively adjustable, and the clamping and loosening actions can be switched automatically.

[0031] In this embodiment, each drive component 232 is a lead screw electric cylinder. Its working principle is as follows: the control unit controls the motor (servo motor or stepper motor) to rotate according to commands (such as position, speed, force). The motor output shaft directly drives the nut (or via synchronous belt transmission), causing the nut to rotate within the cylinder. The lead screw is strictly restricted by a guide mechanism (such as a linear guide or keyway), allowing it to move only along its axis and preventing rotation. The piston rod connected to the end of the lead screw transmits linear thrust / pull force to the external clamping arms 233, completing the push and pull actions. The applied thrust is transmitted via the clamping arms 233 to the first crawling components 220, causing them to move towards each other and collectively grip the cable. Similarly, the applied pull force can cause the first crawling components 220 to separate from each other, loosening / separating from the cable to detach from it.

[0032] The lead screw electric cylinder utilizes the unidirectional transmission characteristic of the lead screw to approximate the rotation direction of the motor as a linear motion, providing the force to drive the clamping arms 233. Therefore, this embodiment uses a lead screw-driven adaptive clamping arm 233 structure. Even after the motor stops when each clamping arm 233 reaches the target clamping force, the clamping force is maintained. Simultaneously, the lead screw's unidirectional transmission characteristic ensures that even in the event of an unexpected power outage after applying the clamping force, the clamping force is maintained, effectively preventing the device from falling off and providing better protection.

[0033] Furthermore, each clamping arm 233 includes a main arm body 2331, a first leg 2332 extending from one end of the main arm body 2331, a second leg 2333 extending from the other end of the main arm body 2331, and a third leg 2334 extending from the side of the main arm body 2331. The third leg 2334 is close to the first leg 2332 and is pivotally connected to the power output end of the drive assembly 232. The first leg 2332 is pivotally connected to the support frame 210. The second leg 2333 extends obliquely toward the cable. The first crawling assembly 220 is connected to the end of the second leg 2333.

[0034] In this embodiment, the main arm 2331 is pivotally limited to the support frame 210 via the first leg 2332. Utilizing the lever principle, the entire assembly consisting of the second leg 2333, the main arm 2331, and the third leg 2334 rotates around the pivot axis of the first leg 2332. When it is necessary to grip the cable, each drive component 232 applies a thrust to the third leg 2334, which then applies this thrust in the opposite direction to the first crawling component 220 via the second leg 2333, causing the two first crawling components 220 to clamp the cable towards each other. Similarly, when it is necessary to detach from the cable, each drive component 232 applies a pull force to the third leg 2334, which then applies this pull force in the opposite direction to the first crawling component 220 via the second leg 2333, causing the two first crawling components 220 to be pulled away from the cable, thus achieving detachment.

[0035] Preferably, each third leg 2334 is C-shaped or V-shaped, and the extended end of each third leg 2334 is a clamping end 231. The third leg 2334 and the main arm body 2331 together form a hook shape. In this way, each clamping arm 233 is in a wrapping shape, which can adaptively adjust to cables of different diameters, effectively solving the drawback of the loop mechanism being unable to adapt to changes in cable shape.

[0036] Furthermore, the support frame 210 includes a main frame 211, a fixed frame 213, and two side wings 212. The side wings 212 are respectively fixed to the left and right sides of the main frame 211 and extend obliquely toward the cable. The fixed frame 213 is fixed to the side of the main frame 211 opposite to the cable. Both drive components 232 are fixed to the fixed frame 213, providing sufficient space for each drive component 232 to drive the clamping arm 233. Each first support leg 2332 is pivotally connected to one side wing 212.

[0037] In this embodiment, the fixing frame 213 stands on the main frame 211 and is Y-shaped. The two forked ends of the fixing frame 213 are away from the main frame 211. Each forked end of the fixing frame 213 is fixed with a drive assembly 232, and the power output end of the drive assembly 232 is away from the fixing frame 213. The power output ends of the two drive assemblies 232 are also away from each other and inclined towards the cable. This provides sufficient space for each drive assembly 232 to drive the clamping arm 233.

[0038] Preferably, two adaptive clamping mechanisms 230 and two fixing frames 213 are provided. The two fixing frames 213 are arranged vertically and horizontally, and each adaptive clamping mechanism 230 is fixed to one fixing frame 213. The clamping ends 231 of the two clamping arms 233 on the same side of the two adaptive clamping mechanisms 230 are connected to the same first crawling component 220. This helps to make the thrust applied to each first crawling component 220 more stable and reliable, ensuring crawling efficiency.

[0039] In this embodiment, two Y-shaped fixing frames 213 are respectively erected on the side of the main frame 211 facing away from the cable, and are set separately at the two ends of the main frame 211. The two clamping arms 233 on the same side are parallel to each other, and each third leg 2334 is connected to the same crawling component. When the first crawling component 220 on one side encounters obstacles or uneven surfaces, it may tilt or get stuck, ensuring that each first crawling component 220 crawls smoothly.

[0040] In this embodiment, the intelligent walking device 200 also includes two horizontal support arms 240, each of which is arranged on one side of the main frame 211 and supports and connects two clamping arms 233, further ensuring the smooth operation of the two clamping arms 233 on each side.

[0041] In this embodiment, the main frame 211 has a housing cavity 201 for accommodating the control unit, and the power supply battery can also be arranged in the housing cavity 201.

[0042] Furthermore, the first crawling assembly 220 includes a crawling frame 221 with a receiving cavity, two rows of roller groups 222 respectively arranged on the left and right sides of the crawling frame 221, a drive motor (not shown in the figure) arranged in the receiving cavity and driving each row of roller groups 222 to roll, and tracks 223 respectively fitted on each row of roller groups 222. Each drive motor is controlled and connected to a control unit. The crawling frame 221 is connected to the clamping end 231. When in the clamping state, each track 223 is in close contact with the cable, which helps to improve crawling efficiency. Each track 223 crawls along the cable under the drive of each drive motor.

[0043] In this embodiment, each row of rollers 222 includes two rollers 2221, which are set separately. Each roller 2221 is equipped with a drive motor. Thus, each first crawling component 220 has four motor drives, providing sufficient crawling power for each first crawling component 220.

[0044] Preferably, the surface of the crawler frame 221 facing the cable is recessed towards the clamping end 231 to form an avoidance groove 202. Because the cable has uneven and irregular obstacle structures, the avoidance groove 202 at the bottom of the crawler frame 221 can effectively avoid interference with the cable during crawling and prevent the bottom of the crawler frame 221 from being scratched.

[0045] The cross-section of the clearance groove 202 can be V-shaped, C-shaped, or U-shaped; there are no restrictions here.

[0046] Preferably, the intelligent walking device 200 further includes a second crawling component 250, which is pivotally connected to the support frame 210 on the side facing the cable. Each first crawling component 220 is pivotally connected to a clamping end 231. The two first crawling components 220 and the second crawling component 250 together form a triangular enclosure that clamps the cable.

[0047] In this embodiment, preferably, the crawling frame 221 of each first crawling component 220 and the crawling frame 221 of the second crawling component 250 are both V-shaped. By utilizing the principle of three-point tangency, three centripetal clamping forces can be applied to the approximately cylindrical cable, making the crawling more stable.

[0048] Furthermore, the second crawling component 250 has the same structure as the first crawling component 220, and will not be described in detail again.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An intelligent walking device that automatically walks along a cable, characterized in that, The intelligent walking device includes a support frame, a control unit, two first crawling components, and an adaptive clamping mechanism with automatically adjustable clamping force. The adaptive clamping mechanism is fixed to the support frame, with two extended ends serving as clamping ends in a clamping shape. Each clamping end is connected to one of the first crawling components, and the two first crawling components are opposite each other. Under the control of the control unit, the adaptive clamping mechanism has an open state that moves the two clamping ends away from each other and a clamping state that moves them closer together. In the clamping state, the two first crawling components are tightly gripped by the cable and automatically walk along the cable under the action of driving force. In the open state, the two first crawling components are detached from the cable.

2. The intelligent walking device as described in claim 1, characterized in that, The adaptive clamping mechanism includes two drive components that can be driven in one direction and two clamping arms. The two drive components are fixed to the support frame and are both controlled and connected to the control unit. One end of each clamping arm is connected to the power output end of one of the drive components, and the other end is the clamping end.

3. The intelligent walking device as described in claim 2, characterized in that, Each clamping arm includes a main arm body, a first leg extending from one end of the main arm body, a second leg extending from the other end of the main arm body, and a third leg extending from the side of the main arm body. The third leg is close to the first leg and is pivotally connected to the power output end of the drive assembly. The first leg is pivotally connected to the support frame. The second leg extends obliquely toward the cable. The first crawling assembly is connected to the end of the second leg.

4. The intelligent walking device as described in claim 3, characterized in that, Each of the third legs is in the shape of a "C" or a "V", and the extended end of each of the third legs is the clamping end. The third legs and the main arm together form a hook shape.

5. The intelligent walking device as described in claim 3 or 4, characterized in that, The support frame includes a main frame, a fixed frame, and two side wings. The two side wings are respectively fixed to the left and right sides of the main frame and extend obliquely toward the cable. The fixed frame is fixed to the side of the main frame facing away from the cable. The two drive components are both fixed to the fixed frame, and each of the first legs is pivotally connected to one of the side wings.

6. The intelligent walking device as described in claim 5, characterized in that, Two adaptive clamping mechanisms are provided, and two fixing frames are also provided. The two fixing frames are set up separately, and each adaptive clamping mechanism is fixed to one of the fixing frames. The clamping ends of the two clamping arms located on the same side of the two adaptive clamping mechanisms are connected to the same first crawling component.

7. The intelligent walking device as described in any one of claims 1 to 4, characterized in that, The first crawling assembly includes a crawling frame with a receiving cavity, two rows of rollers respectively arranged on the left and right sides of the crawling frame, a drive motor arranged in the receiving cavity and driving each row of rollers to roll, and tracks respectively fitted on each row of rollers. Each drive motor is controlled and connected to the control unit. The crawling frame is connected to the clamping end. Each track is in close contact with the cable in the clamping state and crawls along the cable under the drive of each drive motor.

8. The intelligent walking device as described in claim 7, characterized in that, The surface of the crawler frame facing the cable is recessed towards the clamping end to form a clearance groove.

9. The intelligent walking device as described in claim 7, characterized in that, The intelligent walking device also includes a second crawling component, which is pivotally connected to the support frame on the side facing the cable. Each of the first crawling components is pivotally connected to a clamping end. The two first crawling components and the second crawling component together form a triangular enclosure that clamps the cable.

10. The intelligent walking device as described in claim 9, characterized in that, The second crawling component has the same structure as the first crawling component, and will not be described again.

Images