Cable-climbing robot

Abstract

The utility model discloses a kind of cable-climbing robots, it is related to bridge inspection equipment technical field, including rack and climb damping unit, two groups of climb damping unit oppositely are located on rack, climb damping unit includes climb damping assembly, climb damping assembly includes climb mounting seat, climb mounting frame, climb adjustment positioning assembly, climb hug damping assembly and climb walking assembly, climb hug damping assembly is used to drive climb walking assembly elastic resistance on measured piece and energy dissipation damping when vibration occurs.This utility model's cable-climbing robot, climb mounting frame and climb hug damping assembly are respectively independently connected with climb walking assembly and jointly support climb walking assembly, climb mounting frame adjusts the hug size of climb walking assembly, climb hug damping assembly is damped when climb walking assembly overcomes barrier, solved the technical problem that current cable-climbing robot is difficult to adapt to cable of different sizes, climb walking overcomes barrier rack vibration on cable is larger.

Description

Technical Field

[0001] This utility model relates to the field of bridge inspection equipment technology, and in particular, to a cable-climbing robot. 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. Cable climbing robots (climbing robots) that can walk on cables can work in harsh and complex environments and can perform long-distance, high-safety inspections, and are widely used.

[0003] Existing cable-climbing robots mostly employ a fixed clamping force design, which is difficult to adapt to cables of different diameters, loads, and environmental conditions. This results in technical problems such as insufficient adaptability, unstable clamping, and slippage. Existing technologies disclose robots that use a drive mechanism to drive the frame to climb along the cable's extension direction. Although they consider using springs to increase the passability when crossing obstacles, the springs are directly placed between the wheel frame and the frame. They do not consider the impact of vibration on the wheel frame and the frame when crossing obstacles. Repeated vibration of the wheel frame causes dynamic fluctuations in the clamping force of the clamping wheels on the cable and instantaneous attenuation of the clamping force, leading to slippage and body deviation of the climbing robot, reducing the overall stability of the robot. Vibration of the frame causes continuous shaking of the frame, resulting in unstable imaging by the camera detection mechanism mounted on the frame (the detection sensor cannot sense stably), affecting the accuracy of cable defect image acquisition and inspection quality, and failing to meet the operational requirements of high-precision routine inspection.

[0004] Therefore, it is necessary to propose a rope-climbing robot to solve or at least alleviate some of the above problems. Utility Model Content

[0005] The cable-climbing robot provided by this utility model solves the technical problems of existing cable-climbing robots being difficult to adapt to cables of different sizes and having large vibrations on the frame when climbing, walking and overcoming obstacles on the cable.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A cable-climbing robot includes a frame and climbing vibration damping units. The frame has through holes, and two sets of climbing vibration damping units are mounted opposite each other on the frame. Each climbing vibration damping unit includes at least two spaced-apart climbing vibration damping components. Each climbing vibration damping component includes a climbing mounting base, a climbing mounting frame, a climbing adjustment and positioning component, a climbing gripping vibration damping component, and a climbing walking component for climbing and walking on the cable. The climbing mounting base is fixedly mounted on the frame, and the first end of the climbing mounting frame is rotatably connected to the climbing mounting base. The second end of the climbing and walking component is rotatably connected to the first end of the climbing and walking component. The climbing adjustment and positioning component is located between the climbing mounting frame and the climbing mounting base. The climbing adjustment and positioning component drives the climbing mounting frame to swing around the rotation axis and position itself. The second end of the climbing and walking component is rotatably connected to the first end of the climbing and gripping vibration damping component. The second end of the climbing and gripping vibration damping component is rotatably connected to the climbing mounting base. The climbing and walking component is supported and installed on the climbing mounting base through the climbing mounting base and the climbing and gripping vibration damping component. The climbing and gripping vibration damping component adopts an elastic damping element.

[0007] Furthermore, the climbing mounting base includes a first fixed base and a second fixed base arranged at intervals. The first fixed base and the second fixed base are respectively fixed on the frame. The climbing mounting frame is rotatably mounted on the first fixed base. The climbing clamping and vibration damping component is rotatably mounted on the first fixed base. The climbing adjustment and positioning component is rotatably mounted on the second fixed base.

[0008] Furthermore, the climbing adjustment positioning assembly includes a telescopic adjustment positioner, the first end of which is connected to the swing end of the climbing mounting frame, and the second end of which is rotatably connected to the second fixed base.

[0009] Furthermore, the climbing frame is provided with hinge mounting holes, and multiple sets of hinge mounting holes are arranged at intervals along the extension direction of the climbing frame. The first end of the telescopic adjustment locator is hinged to the climbing frame through a first hinge shaft, which is mounted on the hinge mounting hole. The second end of the telescopic adjustment locator is hinged to the second fixed seat through a second hinge shaft.

[0010] Furthermore, the climbing and walking assembly includes a crawling mount, a crawling driver, and a climbing wheel. The climbing wheel is rotatably mounted on the crawling mount and protrudes from the side wall of the crawling mount. The crawling driver is mounted on the crawling mount and drives the climbing wheel to rotate. The first end of the crawling mount is connected to the first end of the climbing frame via a third hinge shaft, and the second end of the crawling mount is connected to the climbing gripping and vibration damping assembly via a fourth hinge shaft.

[0011] Furthermore, the climbing robot also includes a camera unit, which is mounted on the frame and staggered from the climbing vibration damping unit. The camera unit includes at least one camera component, which includes a camera mount and a camera. The camera mount is mounted on the frame, and the camera is mounted on the camera mount.

[0012] Furthermore, the camera mount includes a bottom mounting bracket, a middle mounting bracket, a top mounting bracket, and a shooting vibration damper. The first end of the bottom mounting bracket is fixed to the frame, and the second end of the bottom mounting bracket is connected to the middle mounting bracket. The top mounting bracket is mounted on the middle mounting bracket, and the camera is mounted on the top mounting bracket. The middle mounting bracket is a four-bar structure, including a central first link, a central second link, a central third link, and a central fourth link connected in a quadrilateral shape. The central first link and the central third link are arranged in parallel, and the central second link and the central fourth link are arranged in parallel with each other. The central first link is fixed to the central second end of the bottom mounting bracket. The central first end of the shooting vibration damper is hinged to the central first link, and the central second end of the shooting vibration damper is hinged to the central third link. The shooting vibration damper elastically supports the four-bar structure and absorbs energy and reduces vibration when vibration occurs.

[0013] Furthermore, the bottom mounting bracket includes a bottom first link, a bottom second link, and a bottom locking rod. The bottom first link is fixedly mounted on the frame, and the bottom second link is movably mounted on the bottom first link and locked by the bottom locking rod.

[0014] Furthermore, the frame includes a frame body and splicing connectors. At least two frames are spliced ​​together in the horizontal direction. Adjacent frames are fixedly connected by splicing connectors to form a structure with through holes. Climbing vibration damping units are provided on the top and bottom surfaces of the frame body, and a camera unit is also arranged on the top surface of the frame body in a staggered manner with the climbing vibration damping units.

[0015] Furthermore, the frame includes an inner panel and side panels. The two side panels are arranged opposite each other on both sides of the inner panel to form a U-shaped structure with wiring accommodating grooves and an outer opening. The two frames are spliced ​​together and fixedly connected by splicing connectors. The splicing connectors include a hinged connection structure and a fastening connection structure. The first end of the hinged connection structure is fixedly connected to the first end of one of the frames, and the second end of the hinged connection structure is fixedly connected to the first end of the other frame. The hinged connection structure allows the two frames to rotate around the connecting axis, thereby opening or splicing the second ends of the two frames. The two ends of the fastening connection structure are detachably connected to the second ends of the two frames respectively.

[0016] This utility model has the following beneficial effects: This utility model discloses a cable-climbing robot, comprising a frame and a climbing vibration damping unit. The frame has through holes, and two sets of climbing vibration damping units are arranged opposite each other on the frame along the height direction. The through holes are used to avoid the cable. Each climbing vibration damping unit includes at least two spaced-apart climbing vibration damping components, which are used to hold the cable and climb on it. Each climbing vibration damping unit also includes at least two spaced-apart climbing vibration damping components on the same horizontal plane. Each climbing vibration damping component includes a climbing mounting base, a climbing mounting frame, a climbing adjustment and positioning component, a climbing gripping vibration damping component, and a climbing walking component for climbing and walking on the cable. The climbing mounting base is fixedly mounted on... On the frame, the first end of the climbing mounting frame is rotatably connected to the climbing mounting base. The climbing adjustment and positioning component is used to drive the climbing mounting frame to swing around the rotation axis and position itself, thereby adjusting the extension posture of the climbing mounting frame. The second end of the climbing mounting frame is rotatably connected to the first end of the climbing walking component. The second end of the climbing walking component is rotatably connected to the first end of the climbing clamping and vibration damping component. The second end of the climbing clamping and vibration damping component is rotatably connected to the climbing mounting base. The climbing clamping and vibration damping component is located between the climbing walking component and the climbing mounting base. The climbing clamping and vibration damping component uses an elastic damping element and is used to drive the climbing walking component to elastically resist the test. The system incorporates energy-dissipating and vibration-damping mechanisms. The climbing mounting frame's extension state can be adjusted and positioned using a climbing adjustment and positioning component to accommodate cables of different sizes. After adjusting the climbing mounting frame's extension posture based on the clamping size, the climbing walking component clamps the cable under elastic support. The climbing clamping and vibration-damping component drives the climbing walking component to elastically abut against the cable, allowing the climbing walking component to climb along the cable. Furthermore, because the climbing clamping and vibration-damping component uses elastic damping elements, energy-dissipating and vibration-damping are achieved when climbing over obstacles, improving the stability of the frame's climbing motion. This invention provides a solution for... The climbing mounting frame and the climbing clamping and vibration damping assembly are independently connected to the climbing and walking assembly and jointly support it. The climbing mounting frame positions the climbing clamping and vibration damping assembly in its extended state, and the clamping size of the climbing and walking assembly is adjusted to adapt to cables of different sizes. The climbing clamping and vibration damping assembly provides elastic clamping and vibration damping, reducing vibration when the climbing and walking assembly crosses obstacles. It has strong obstacle crossing ability and the frame can move smoothly, solving the technical problems of existing cable-climbing robots that are difficult to adapt to cables of different sizes and have large frame vibrations when climbing and walking on cables to cross obstacles. The detection mechanism mounted on the frame can operate stably, which helps to improve the detection quality.

[0017] In addition to the objectives, features, and advantages described above, this utility model has other objectives, features, and advantages. The present utility model will now be described in further detail with reference to the figures. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings: Figure 1 This is one of the three-dimensional structural schematic diagrams of the climbing robot of this utility model; Figure 2 yes Figure 1 Enlarged view of point A in the middle; Figure 3 yes Figure 1 Enlarged view of point B in the middle; Figure 4 This is the second three-dimensional structural schematic diagram of the climbing robot of this utility model; Figure 5 This is a front view of the climbing robot of this utility model; Figure 6 This is a partial three-dimensional structural diagram of the climbing robot of this utility model.

[0019] Legend: 100. Climbing robot; 10. Frame; 101. Through hole; 102. Wiring hole; 11. Frame body; 111. Inner panel; 112. Side panel; 113. Connecting stiffening rib; 12. Splicing connector; 121. Hinge connection structure; 122. Fastening connection structure; 20. Climbing vibration damping unit; 21. Climbing vibration damping assembly; 211. Climbing mounting base; 2111. First fixed base; 2112. Second fixed base; 212. Climbing mounting frame; 213. Climbing adjustment and positioning assembly; 214. Climbing gripping vibration damping assembly; 215. Climbing walking assembly; 2151. Crawling mounting base; 2 152. Crawler actuator; 2153. Climbing wheel; 2161. First hinge shaft; 2162. Second hinge shaft; 2163. Third hinge shaft; 2164. Fourth hinge shaft; 2165. Fifth hinge shaft; 30. Camera unit; 31. Camera assembly; 311. Camera mount; 3111. Bottom mount; 3112. Middle mount; 31121. Middle first link; 31122. Middle second link; 31123. Middle third link; 31124. Middle fourth link; 3113. Top mount; 3114. Vibration damping device; 312. Camera. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0023] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0024] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6This utility model provides a cable-climbing robot 100, including a frame 10 and climbing vibration damping units 20. The frame 10 has through holes 101. Two sets of climbing vibration damping units 20 are disposed opposite each other on the frame 10. Each climbing vibration damping unit 20 includes at least two spaced-apart climbing vibration damping components 21. Each climbing vibration damping component 21 includes a climbing mounting base 211, a climbing mounting frame 212, a climbing adjustment and positioning component 213, a climbing gripping vibration damping component 214, and a climbing walking component 215 for climbing and walking on the cable. The climbing mounting base 211 is fixedly mounted on the frame 10. The first end of the climbing mounting frame 212 is rotatably connected to the climbing mounting base 211, and the second end of the climbing mounting frame 212 is connected to the climbing walking component 215. The first end of the climbing adjustment and positioning component 213 is rotatably connected to drive the climbing mounting frame 212 to swing around the rotation axis and position itself. The second end of the climbing walking component 215 is rotatably connected to the first end of the climbing clamping and vibration damping component 214. The second end of the climbing clamping and vibration damping component 214 is rotatably connected to the climbing mounting base 211. The climbing walking component 215 is supported and mounted on the climbing mounting base 211 through the climbing mounting base 211 and the climbing clamping and vibration damping component 214. The climbing walking component 215, the climbing mounting frame 212, and the climbing clamping and vibration damping component are arranged in an inverted triangle. The climbing clamping and vibration damping component 214 is used to drive the climbing walking component 215 to elastically resist the test piece (test cable) and to absorb energy and dampen vibration when vibration occurs.

[0025] The cable-climbing robot 100 of this utility model includes a frame 10 and climbing vibration damping units 20. The frame 10 has through holes 101. Two sets of climbing vibration damping units 20 are arranged opposite each other on the frame 10 along the height direction. The through holes 101 are used to avoid the cable. Each climbing vibration damping unit 20 includes at least two spaced climbing vibration damping components 21. The climbing vibration damping unit 20 is used to hold the cable and climb on it. Each climbing vibration damping unit 20 includes at least two spaced climbing vibration damping components 21 arranged on the same horizontal plane. Each climbing vibration damping component 21 includes a climbing mounting base 211, a climbing mounting frame 212, a climbing adjustment and positioning component 213, a climbing gripping vibration damping component 214, and a climbing walking component 215 for climbing and walking on the cable. 211 is fixedly mounted on the frame 10. The first end of the climbing mounting frame 212 is rotatably connected to the climbing mounting base 211. The climbing adjustment and positioning component 213 is used to drive the climbing mounting frame 212 to swing around the rotation axis and position it, thereby adjusting the extension posture of the climbing mounting frame 212. The second end of the climbing mounting frame 212 is rotatably connected to the first end of the climbing walking component 215. The second end of the climbing walking component 215 is rotatably connected to the first end of the climbing clamping and vibration damping component 214. The second end of the climbing clamping and vibration damping component 214 is rotatably connected to the climbing mounting base 211. The climbing clamping and vibration damping component 214 is located between the climbing walking component 215 and the climbing mounting base 211. The climbing clamping and vibration damping component 214 adopts an elastic damping element and is used for... The climbing and walking component 215 elastically abuts against the test piece and absorbs vibrations when they occur. The climbing adjustment and positioning component 213 adjusts and positions the extension state of the climbing mounting frame 212 to accommodate cables of different sizes. After adjusting the extension posture of the climbing mounting frame 212 based on the clamping size using the climbing adjustment and positioning component 213, the climbing and walking component 215 clamps the cable under elastic support. The climbing clamping and vibration damping component 214 drives the climbing and walking component 215 to elastically abut against the cable, allowing the climbing and walking component 215 to climb and walk along the cable. Furthermore, because the climbing clamping and vibration damping component 214 uses an elastic damping element, it absorbs vibrations and absorbs energy when climbing over obstacles, improving the stability of the frame 10's crawling. This utility model... In this design, the climbing mounting frame 212 and the climbing clamping and vibration damping component 214 are independently connected to the climbing and walking component 215 and jointly support the climbing and walking component 215. The climbing mounting frame 212 positions the climbing clamping and vibration damping component 214 in its extended state, and adjusts the clamping size of the climbing and walking component 215 to adapt to cables of different sizes. The climbing clamping and vibration damping component 214 provides elastic clamping and vibration damping, and provides vibration damping when the climbing and walking component 215 crosses obstacles. This design provides strong obstacle crossing ability and allows the frame 10 to move smoothly. It solves the technical problems of existing cable-climbing robots 100 being unable to adapt to cables of different sizes and the frame 10 vibrating excessively when climbing and walking on cables to cross obstacles. The detection mechanism mounted on the frame 10 can operate stably, which is beneficial to improving the detection quality.

[0026] Optionally, the second end of the climbing mount 212 is rotatably connected to the first end of the climbing and walking assembly 215. The technical concept is that the second end of the climbing mount 212 and the first end of the climbing and walking assembly 215 are rotatably connected. Alternatively, the first end of the climbing mount 212 can be hinged to one end of the climbing mount 211, the second end of the climbing mount 212 can be hinged to the first end of the climbing and walking assembly 215, and the second end of the climbing and walking assembly 215 can be hinged to the first end of the climbing and gripping vibration damping assembly 214. Next, the second end of the climbing clamping and vibration damping component 214 is hinged to the climbing mounting base 211, the first end of the climbing adjustment and positioning component 213 is hinged to the middle of the climbing mounting frame 212, and the second end of the climbing adjustment and positioning component 213 is hinged to the other end of the climbing mounting base 211. This allows the climbing adjustment and positioning component 213 to adjust the extension posture of the climbing mounting frame 212 and ultimately adjust the clamping diameter of the climbing clamping and vibration damping component 214. The climbing clamping and vibration damping component 214 enables elastic obstacle crossing and vibration damping.

[0027] Understandably, in this invention, the frame 10 can be a polygonal structure or a circular structure. The frame 10 has through holes 101 extending along its height direction, allowing it to climb along the cable's extension direction. Wiring holes 102 are provided on the frame 10, allowing cables such as wires for the climbing robot 100 to pass through. Climbing vibration damping units 20 are respectively provided on both ends of the frame 10 in the height direction, facilitating clamping and climbing of the cable at different positions in the height direction. The climbing adjustment and positioning component 213 can be a telescopic mechanism, a rocker mechanism, or a crank mechanism, etc., as long as it can lock in place after driving the climbing mounting frame 212 to swing around the rotation axis to the target angle. The climbing vibration damping unit 20 can include two, three, or four equal numbers of climbing vibration damping components 21. In a preferred embodiment of this invention, the climbing vibration damping unit 20 includes four climbing vibration damping components 21, which are evenly spaced along the circumferential direction.

[0028] Please refer to this again. Figure 2 Furthermore, the climbing mounting base 211 includes a first fixed base 2111 and a second fixed base 2112 arranged at intervals. The first fixed base 2111 and the second fixed base 2112 are respectively fixed on the frame 10. The climbing mounting frame 212 is rotatably mounted on the first fixed base 2111, the climbing clamping and vibration damping assembly 214 is rotatably mounted on the first fixed base 2111, and the climbing adjustment and positioning assembly 213 is rotatably mounted on the second fixed base 2112. Optionally, the climbing mounting frame 212 and the climbing clamping and vibration damping assembly 214 are staggered and connected to the first fixed base 2111 via a fifth hinge shaft 2165.

[0029] Furthermore, the climbing adjustment and positioning assembly 213 includes a telescopic adjustment locator. The first end of the telescopic adjustment locator is connected to the swing end of the climbing mounting frame 212, and the second end of the telescopic adjustment locator is rotatably connected to the second fixed seat 2112. Understandably, the first fixed seat 2111, the climbing mounting frame 212, the telescopic adjustment locator, and the second fixed seat 2112 combine to form a four-link structure. Optionally, the telescopic adjustment locator can be an electric telescopic rod. The telescopic movement of the electric telescopic rod drives the climbing mounting frame 212 to swing around the hinge axis, ultimately adjusting the clamping diameter of the climbing walking assembly 215.

[0030] Furthermore, the climbing mounting frame 212 is provided with hinge mounting holes, and multiple sets of hinge mounting holes are arranged at intervals along the extension direction of the climbing mounting frame 212. The first end of the telescopic adjustment locator is hinged to the climbing mounting frame 212 via a first hinge shaft 2161, which is mounted on the hinge mounting hole. The second end of the telescopic adjustment locator is connected to the second fixed seat 2112 via a second hinge shaft 2162. By providing multiple sets of hinge mounting holes, the first hinge shaft 2161 can be mounted in different positions, further increasing the flexibility of adjusting the extension posture of the climbing mounting frame 212.

[0031] Furthermore, to enhance the adjustability and obstacle-crossing vibration damping capability of the climbing and walking assembly 215, the climbing and walking assembly 215 includes a crawling mount 2151, a crawling driver 2152, and a climbing wheel 2153. The climbing wheel 2153 is rotatably mounted on the crawling mount 2151 and protrudes from the side wall of the crawling mount 2151. The crawling driver 2152 is mounted on the crawling mount 2151 to drive the climbing wheel 2153 to rotate. The first end of the crawling mount 2151 is connected to the first end of the climbing mount 212 via a third hinge shaft 2163, and the second end of the crawling mount 2151 is connected to the climbing gripping vibration damping assembly 214 via a fourth hinge shaft 2164. Optionally, the crawling driver 2152 is a drive motor; optionally, the fourth hinge shaft 2164 is located outside the third hinge shaft 2163. Understandably, in actual operation, the inner end of the crawling mount 2151 is movably arranged on the climbing mount 212, and the outer end of the crawling mount 2151 is movably arranged on the climbing clamping and damping assembly 214. The climbing clamping and damping assembly 214 drives the climbing mount 212 to tilt inward, thereby causing the climbing wheel 2153 to elastically abut against the cable. The crawling driver 2152 rotates to drive the climbing wheel 2153 to climb along the extension direction of the cable.

[0032] Furthermore, the climbing and gripping vibration damping component 214 includes a climbing vibration damping spring and a climbing energy dissipation damper, which together constitute an elastic damping element. In a specific embodiment of this utility model, the climbing vibration damping spring is sleeved around the periphery of the climbing energy dissipation damper, and the two ends of the climbing vibration damping spring respectively abut against the two ends of the climbing energy dissipation damper.

[0033] Please refer to this again. Figure 2 In one specific embodiment of this utility model, the climbing adjustment and positioning component 213 and the climbing gripping and vibration damping component 214 are staggered. The second end of the climbing gripping and vibration damping component 214 is movably connected to the first fixed seat 2111, and the first end of the climbing gripping and vibration damping component 214 is movably connected to the second end of the climbing walking component 215. Optionally, the climbing mounting frame 212 includes two climbing mounting rods arranged opposite to each other. Each climbing mounting rod is provided with a hinge mounting hole. A set of hinge mounting holes are arranged correspondingly in the height direction. The first hinge shaft 2161 is mounted between the two climbing mounting rods. The first end of the telescopic adjustment and positioning device is connected to the climbing mounting frame 212 through the first hinge shaft 2161. The two ends of the first hinge shaft 2161 are respectively provided with a spacer sleeve. The second end of the telescopic adjustment locator is hinged to the second fixed seat 2112 via the second hinge shaft 2162, and the two ends of the second hinge shaft 2162 are respectively provided with spacer sleeves; the first end of the crawling mounting seat 2151 is connected to the first end of the climbing mounting frame 212 via the third hinge shaft 2163, the second end of the crawling mounting seat 2151 is connected to the climbing gripping vibration damping component 214 via the fourth hinge shaft 2164, the second end of the climbing mounting frame 212 is hinged to the first fixed seat 2111 via the fifth hinge shaft 2165, and the two ends of the fourth hinge shaft 2164 and the fifth hinge shaft 2165 are respectively provided with limit constraint sleeves; wherein, the first hinge shaft 2161, the third hinge shaft 2163 and the fifth hinge shaft 2165 are respectively connected to the climbing mounting frame 212. Optionally, the first hinge shaft 2161, the second hinge shaft 2162, the third hinge shaft 2163, the fourth hinge shaft 2164 and the fifth hinge shaft 2165 are either smooth shafts or threaded locking shafts. If they are threaded locking shafts, the rotatable sensitivity can be adjusted by locking the nut.

[0034] Please refer to this again. Figure 1 and Figure 3Furthermore, the climbing robot 100 also includes a camera unit 30, which is mounted on the frame 10 and staggered from the climbing vibration damping unit 20. The camera unit 30 includes at least one camera assembly 31, which includes a camera mount 311 and a camera 312. The camera mount 311 is mounted on the frame 10, and the camera 312 is mounted on the camera mount 311. In an optional embodiment of this utility model, the camera unit 30 is arranged on the upper part of the frame 10. Since the frame 10 is less affected by vibration during climbing, the camera unit 30 captures images during the climbing process, enabling the camera detection mechanism to achieve stable imaging, which is beneficial to improving the detection quality and meeting the operational requirements of high-precision routine inspection.

[0035] Furthermore, to further isolate the camera 312 from vibration caused by wind or other forces during climbing, the camera mount 311 includes a bottom mount 3111, a middle mount 3112, a top mount 3113, and a shooting vibration damping device 3114. The first end of the bottom mount 3111 is fixed to the frame 10, and the second end of the bottom mount 3111 is connected to the middle mount 3112. The top mount 3113 is mounted on the middle mount 3112, and the camera 312 is mounted on the top mount 3113. The middle mount 3112 is a four-bar linkage structure, including a central first linkage 3 connected in a quadrilateral shape. 1121, middle second link 31122, middle third link 31123 and middle fourth link 31124, middle first link 31121 and middle third link 31123 are arranged in parallel, middle second link 31122 and middle fourth link 31124 are arranged in parallel to each other, middle first link 31121 is fixedly mounted on the second end of bottom mounting bracket 3111, the first end of shooting vibration damper 3114 is hinged to middle first link 31121, the second end of shooting vibration damper 3114 is hinged to middle third link 31123, the shooting vibration damper 3114 elastically supports the four-link structure and performs energy dissipation and vibration reduction when vibration occurs. Understandably, the shooting vibration damper 3114 is not only supported internally by the four-bar structure, but also, since the first central link 31121 is fixed to the second end of the bottom mounting bracket 3111, and the first end of the shooting vibration damper 3114 is hinged to the first central link 31121, it provides elastic support and absorbs energy during vibration of the four-bar structure, thus preventing camera 312 from shaking. Understandably, to ensure the initial extension capacity of the four-bar mechanism, the first central link 31121, the second central link 31122, the third central link 31123, and the fourth central link 31124 are clamped together with screws at their connection points, thereby facilitating the adjustment of the rotational sensitivity between adjacent links.

[0036] Furthermore, the shooting vibration damping damper 3114 includes a shooting vibration damping spring and a shooting energy dissipation damper. In a specific embodiment of this utility model, the shooting vibration damping spring is sleeved around the shooting energy dissipation damper, and the two ends of the shooting vibration damping spring respectively abut against the two ends of the shooting energy dissipation damper.

[0037] Further, the bottom mounting bracket 3111 includes a bottom first connecting rod, a bottom second connecting rod, and a bottom locking rod. The bottom first connecting rod is fixedly mounted on the frame 10, and the bottom second connecting rod is movably mounted on the bottom first connecting rod and locked by the bottom locking rod. In this utility model, the bottom second connecting rod is movably mounted on the bottom first connecting rod and locked by the bottom locking rod. Preferably, the bottom second connecting rod and the bottom first connecting rod are vertically rotatably connected and locked by the bottom locking rod. Preferably, the bottom first connecting rod is a telescopic rod, or the bottom first connecting rod includes a first rotating rod and a second rotating rod that can rotate relative to each other in the horizontal plane and are circumferentially positioned.

[0038] Preferably, the camera 312 is fixed to the top mounting bracket 3113 by fastening bolts. The top mounting bracket 3113 is vertically swayable on the middle mounting bracket 3112. The top mounting bracket 3113 and the middle mounting bracket 3112 are connected by screws.

[0039] Please refer to this again. Figure 6 Furthermore, the frame 10 includes a frame body 11 and a splicing connector 12. At least two frame bodies 11 are spliced ​​together in the horizontal direction (radial direction). Adjacent frame bodies 11 are fixedly connected by the splicing connector 12 to form a structure with a through hole 101. The top and bottom surfaces (axial end faces) of the frame body 11 are respectively provided with climbing vibration damping units 20. The top surface of the frame body 11 is also provided with a camera unit 30 that is staggered with the climbing vibration damping unit 20. Understandably, the frame 10 forms an integral structure by splicing the frame bodies 11. Before climbing, the cable-climbing robot 100 needs to be placed outside the cable. In the solution of this utility model, before climbing, the frame bodies 11 are respectively placed outside the cable, and then the frame bodies 11 are spliced ​​together and fixedly connected by the splicing connector 12. At this time, the frame 10 surrounds the cable and climbs along the cable by climbing walking component 215.

[0040] Understandably, in the present invention, two frames 11 can be spliced ​​together to form a frame 10, or three, four or more frames 11 can be spliced ​​together in one go along the four directions to form a frame.

[0041] Furthermore, the frame 11 includes an inner plate 111 and side plates 112. The two side plates 112 are disposed opposite to each other on both sides of the inner plate 111, so that the frame 11 forms a U-shaped structure with wiring accommodating groove and an outer opening. The two frames 11 are spliced ​​together in the horizontal direction (radial direction) and fixedly connected by splicing connectors. The splicing connectors include a hinged connection structure 121 and a fastening connection structure 122. The first end of the hinged connection structure 121 is fixedly connected to the first end of one of the frames 11, and the second end of the hinged connection structure 121 is fixedly connected to the first end of the other frame 11. The two frames 11 are rotated around the connecting axis through the hinged connection structure 121, thereby opening or splicing the second ends of the two frames 11. The two ends of the fastening connection structure 122 are detachably connected to the second ends of the two frames 11 respectively. The fastening connection structure 122 is used to fix the second ends of the two frames 11. Understandably, by setting the hinged connection structure 121, the two frames 11 are pre-assembled and movably connected, thus preventing the frames 11 from being lost. When installing the frames 11 onto the cable, it is only necessary to open one side of the opening to pass through the cable, and then close the opening side to secure the connection structure 122.

[0042] Preferably, the frame 11 further includes an outer sealing plate for covering the outer opening of the U-shaped structure, and the outer sealing plate is fixedly mounted on the U-shaped structure.

[0043] Preferably, in order to facilitate the pre-assembly of the two frames 11 through the hinged connection structure 121, the connecting stiffening rib 113 is provided with a slot that extends through it along its extension direction, and the hinged connection structure 121 is provided with a protruding buckle that engages with the slot. Specifically, the protruding buckle is fastened to the connecting stiffening rib 113, and the connecting stiffening rib 113 is fixedly arranged in the U-shaped structure and its two ends are fixedly connected to the side plate 112 respectively. Optionally, the slot is a T-shaped slot or a dovetail slot, and the protruding buckle is a T-shaped buckle or a trapezoidal buckle.

[0044] Preferably, in order to facilitate the fixed connection of the two frames 11 by means of the fastening connection structure 122, the fastening connection structure 122 includes a first connecting block, a second connecting block and a fastening rod. The first connecting block is fixedly disposed at the end of one of the U-shaped structures by means of a corresponding connecting stiffening rib 113, and the second connecting block is fixedly disposed at the end of the other U-shaped structure by means of a corresponding connecting stiffening rib 113. The first connecting block and the second connecting block are respectively provided with assembly holes. After the open ends of the two frames 11 are spliced ​​together, the assembly holes on the first connecting block and the second connecting block are aligned. At this time, the fastening rod is inserted into the assembly hole to fix the two frames 10 together.

[0045] The above are merely preferred embodiments of this utility model and are 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, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A cable-climbing robot, characterized in that, It includes a frame (10) and climbing vibration damping units (20), the frame (10) is provided with through holes (101), and two sets of climbing vibration damping units (20) are arranged opposite to each other on the frame (10). The climbing vibration damping unit (20) includes at least two spaced climbing vibration damping components (21). Each climbing vibration damping component (21) includes a climbing mounting base (211), a climbing mounting frame (212), a climbing adjustment and positioning component (213), a climbing gripping vibration damping component (214), and a climbing walking component (215) for climbing and walking on the cable. The climbing mounting base (211) is fixedly mounted on the frame (10). The first end of the climbing mounting frame (212) is rotatably connected to the climbing mounting base (211), and the second end of the climbing mounting frame (212) is rotatably connected to the first end of the climbing walking component (215). The climbing adjustment and positioning component (213) is... The climbing adjustment and positioning component (213) is located between the climbing mounting frame (212) and the climbing mounting base (211). The climbing adjustment and positioning component (213) drives the climbing mounting frame (212) to swing and position around the rotation axis. The second end of the climbing walking component (215) is rotatably connected to the first end of the climbing gripping and vibration damping component (214). The second end of the climbing gripping and vibration damping component (214) is rotatably connected to the climbing mounting base (211). The climbing walking component (215) is supported and installed on the climbing mounting base (211) through the climbing mounting base (211) and the climbing gripping and vibration damping component (214). The climbing gripping and vibration damping component (214) is an elastic damping element.

2. The cable-climbing robot according to claim 1, characterized in that, The climbing mounting base (211) includes a first fixed base (2111) and a second fixed base (2112), which are respectively fixed on the frame (10). The climbing mounting frame (212) is rotatably mounted on the first fixed base (2111), the climbing gripping and vibration damping assembly (214) is rotatably mounted on the first fixed base (2111), and the climbing adjustment and positioning assembly (213) is rotatably mounted on the second fixed base (2112).

3. The cable-climbing robot according to claim 2, characterized in that, The climbing adjustment and positioning assembly (213) includes a telescopic adjustment locator, the first end of which is connected to the swing end of the climbing mounting frame (212), and the second end of which is rotatably connected to the second fixed seat (2112).

4. The cable-climbing robot according to claim 3, characterized in that, The climbing mounting frame (212) is provided with hinge mounting holes, and multiple sets of hinge mounting holes are arranged at intervals along the extension direction of the climbing mounting frame (212). The first end of the telescopic adjustment locator is hinged to the climbing mounting frame (212) through a first hinge shaft (2161), and the first hinge shaft (2161) is mounted on the hinge mounting hole. The second end of the telescopic adjustment locator is hinged to the second fixed seat (2112) through a second hinge shaft (2162).

5. The cable-climbing robot according to claim 1, characterized in that, The climbing and walking assembly (215) includes a crawling mount (2151), a crawling driver (2152), and a climbing wheel (2153). The climbing wheel (2153) is rotatably mounted on the crawling mount (2151) and protrudes from the side wall of the crawling mount (2151). The crawling driver (2152) is mounted on the crawling mount (2151) and drives the climbing wheel (2153) to rotate. The first end of the crawling mount (2151) is connected to the first end of the climbing mount (212) via a third hinge shaft (2163), and the second end of the crawling mount (2151) is connected to the climbing gripping vibration damping assembly (214) via a fourth hinge shaft (2164).

6. The cable-climbing robot according to any one of claims 1 to 5, characterized in that, The climbing robot also includes a camera unit (30), which is mounted on the frame (10) and staggered from the climbing vibration damping unit (20). The camera unit (30) includes at least one camera component (31), the camera component (31) includes a camera mount (311) and a camera (312), the camera mount (311) is disposed on the frame (10), and the camera (312) is disposed on the camera mount (311).

7. The cable-climbing robot according to claim 6, characterized in that, The camera mounting bracket (311) includes a bottom mounting bracket (3111), a middle mounting bracket (3112), a top mounting bracket (3113), and a shooting vibration damping device (3114). The first end of the bottom mounting bracket (3111) is fixed to the frame (10), and the second end of the bottom mounting bracket (3111) is connected to the middle mounting bracket (3112). The top mounting bracket (3113) is mounted on the middle mounting bracket (3112), and the camera (312) is mounted on the top mounting bracket (3113). The central mounting bracket (3112) is a four-bar linkage structure. The central mounting bracket (3112) includes a central first link (31121), a central second link (31122), a central third link (31123), and a central fourth link (31124) connected in a quadrilateral shape. The central first link (31121) and the central third link (31123) are arranged in parallel. The central second link (31122) and the central fourth link (31124) are connected in a quadrilateral shape. 24) The four-bar structure is arranged in parallel with each other. The first connecting rod (31121) in the middle is fixed to the second end of the bottom mounting bracket (3111). The first end of the shooting vibration damping damper (3114) is hinged to the first connecting rod (31121) in the middle. The second end of the shooting vibration damping damper (3114) is hinged to the third connecting rod (31123) in the middle. The shooting vibration damping damper (3114) elastically supports the four-bar structure and performs energy dissipation and vibration reduction when vibration occurs.

8. The cable-climbing robot according to claim 7, characterized in that, The bottom mounting bracket (3111) includes a bottom first link, a bottom second link and a bottom locking rod. The bottom first link is fixedly mounted on the frame (10), and the bottom second link is movably mounted on the bottom first link and locked by the bottom locking rod.

9. The cable-climbing robot according to claim 6, characterized in that, The frame (10) includes a frame body (11) and a splicing connector (12). At least two frames (11) are spliced ​​together, and adjacent frames (11) are fixedly connected by the splicing connector (12) to form a structure with a through hole (101). The top and bottom surfaces of the frame (11) are respectively provided with the climbing vibration damping unit (20), and the top surface of the frame (11) is also provided with the camera unit (30) which is arranged in a staggered manner with the climbing vibration damping unit (20).

10. The cable-climbing robot according to claim 9, characterized in that, The frame (11) includes an inner plate (111) and side plates (112). The two side plates (112) are disposed opposite to each other on both sides of the inner plate (111), so that the frame (11) forms a U-shaped structure with wiring accommodating grooves and an outer opening. Two frames (11) are spliced ​​together and fixedly connected by the splicing connector (12). The splicing connector includes a hinged connection structure (121) and a fastening connection structure (122). The first end of the hinged connection structure (121) is fixedly connected to the first end of one of the frames (11), and the second end of the hinged connection structure (121) is fixedly connected to the first end of the other frame (11). The two frames (11) are rotated around the connecting axis through the hinged connection structure (121) to open or splice the second ends of the two frames (11). The two ends of the fastening connection structure (122) are detachably connected to the second ends of the two frames (11).

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