CN108516027B - Support leading wheel structure and have cable climbing robot of this structure - Google Patents

Abstract

The invention provides a supporting guide wheel structure and a cable climbing robot with the same. Wherein, support the leading wheel structure and include: the device comprises a first connecting seat body, a second connecting seat body, a crank supporting arm, an elastic body and a supporting wheel component, wherein the first connecting seat body and the second connecting seat body are arranged at intervals, the crank part of the crank supporting arm is rotatably connected to the first connecting seat body, the first end of the elastic body is rotatably connected to the second connecting seat body, the second end of the elastic body is connected to the first end of the crank supporting arm, and the supporting wheel component is arranged at the second end of the crank supporting arm. By applying the technical scheme of the invention, the problem of unstable climbing movement of the robot caused by poor obstacle crossing capability of the supporting guide wheel structure applied to the cable climbing robot in the prior art can be solved.

Description

A supporting guide wheel structure and a cable climbing robot having the structure

Technical field

The invention belongs to the technical field of robot equipment, and in particular relates to a supporting guide wheel structure and a cable climbing robot having the structure.

Background technique

The development history of cable climbing robots abroad is earlier than that in China. As early as the late 1980s, some research institutions in the United States and Europe successively developed cable climbing robots. For my country's climbing robots, especially bridge cable climbing robots, they work in harsh and complex environments. In the process of climbing cables, the robots often need to cross obstacles to continue climbing, and ensure that they can The robot can still maintain relative stability with the cable during the obstacle process. At this time, it is necessary to apply a support guide wheel structure on the robot to assist the robot in climbing on the cable. The current cable climbing robot is constrained by its own body structure, and the support and guide wheel structure of the general linear suspension is limited by its own structure. The support and guide wheel structure has limited ability to overcome obstacles. In the prior art, when an obstacle is encountered, the support wheel supporting the guide wheel structure presses over the obstacle, causing the support wheel to break away from the cable, causing the robot itself to be unstable, or even causing the robot to slip off the cable.

Contents of the invention

The technical problem to be solved by the present invention is to provide a support guide wheel structure and a cable climbing robot with the structure, aiming to solve the problem of the poor obstacle surmounting ability of the support guide wheel structure used in the cable climbing robot in the prior art, resulting in the robot climbing. The problem of unstable crawling motion.

In order to solve the above technical problems, the present invention is implemented as follows. A supporting guide wheel structure includes: a first connecting seat body, a second connecting seat body, a crank support arm, an elastic body and a supporting wheel assembly. The first connecting seat The body is spaced apart from the second connection base body, the crank portion of the crank support arm is rotatably connected to the first connection base body, the first end of the elastic body is rotatably connected to the second connection base body, and the third end of the elastic body is rotatably connected to the first connection base body. The two ends are connected to the first end of the crank support arm, and the support wheel assembly is installed on the second end of the crank support arm.

Further, the support wheel assembly includes a crank wheel seat, a first support wheel and a second support wheel. The crank portion of the crank wheel seat is rotatably connected to the second end of the crank support arm. The first support wheel is connected to At the first end of the crankshaft wheel base, the second supporting wheel is connected to the second end of the crankshaft wheel base.

Further, the wheel surface of the first support wheel and/or the second support wheel is configured in a V shape or a U shape.

Further, the wheel surfaces of the first support wheel and the second support wheel are both covered with soft covering materials.

Further, the curved angle at the position of the crank portion of the crankshaft wheel seat is greater than 90°.

Further, the corner at the position of the crank portion of the crank support arm is 90°.

Further, the elastic body includes an assembly bolt, a coil spring and a butterfly adjustment nut. The first end of the assembly bolt is connected to the second connecting seat body through a first hinge pin. The coil spring is sleeved on the assembly bolt. The third end of the assembly bolt is The two ends pass through the assembly hole on the first end of the crank support arm and are connected to the butterfly adjusting nut.

Further, the crank portion of the crank support arm is connected to the first connecting seat body through a second hinge pin, and the crank portion of the crank wheel seat is connected to the second end of the crank support arm through a third hinge pin. .

Further, the first connection base body is provided with a first assembly hole and a second assembly hole, and a second hinge pin is provided in the first assembly hole or the second assembly hole to adjust the second end of the crank support arm toward the cable. extension distance.

According to another aspect of the present invention, a cable climbing robot is provided. The cable climbing robot includes: a first climbing structure, a second climbing structure, a driving structure and a support wheel structure. The support wheel structure is the aforementioned support guide wheel structure. The first climbing structure is opposite to the second climbing structure. It is set that both the first climbing structure and the second climbing structure include a holding mechanism, the holding mechanism is used to hold the cable, and the holding mechanism on the first climbing structure and the holding mechanism on the second climbing structure The cable is alternately held, and each holding mechanism is equipped with a support wheel structure. During the process of climbing the cable, the support wheel structure is in constant contact with the cable. The driving structure is arranged between the first climbing structure and the second climbing structure. To drive the first climbing structure and the second climbing structure to alternately climb and move.

When the support guide wheel structure is used in the cable climbing robot for auxiliary support, the first connection base body and the second connection base body are fixedly connected to form a fixed support point. During the climbing and moving process of the robot, the support wheel The component is always in contact with the cable and plays an auxiliary supporting role. When the support wheel component encounters an obstacle during the climbing movement, the obstacle will lift up the support wheel component. At this time, the obstacle will lift up the support wheel component. The force is transmitted to the crank support arm, and the crank support arm rotates with the connection point of the crank part as the fulcrum to compress the elastic body, so that the support wheel assembly adaptively crosses the obstacle, and in the process of crossing the obstacle The auxiliary support state is still continuously maintained to maintain the overall stability of the cable climbing robot. After the support wheel assembly passes the obstacle, the elastic body causes the support wheel assembly to return to support on the cable under its own elastic force, thereby ensuring that the cable climbing robot Always perform climbing movements on the cable with overall stability.

Description of the drawings

Figure 1 is a schematic diagram of the assembly structure of the supporting guide wheel structure according to the embodiment of the present invention;

Figure 2 is an exploded structural schematic diagram from a first perspective of the supporting guide wheel structure according to the embodiment of the present invention;

Figure 3 is an exploded structural schematic diagram of the guide wheel supporting structure from a second perspective according to the embodiment of the present invention;

Figure 4 is a schematic assembly structure diagram of an embodiment of the cable climbing robot of the present invention;

Figure 5 is a structural schematic diagram of the driving structure of the cable climbing robot according to the embodiment of the present invention assembled on the connecting rod from a first perspective;

Figure 6 is a structural schematic diagram of the driving structure of the cable climbing robot according to the embodiment of the present invention assembled on the connecting rod from a second perspective;

Figure 7 is a structural schematic diagram from a third perspective of the driving structure of the cable climbing robot according to the embodiment of the present invention, which is assembled on the connecting rod;

Figure 8 is a schematic structural diagram of the driving structure of the cable climbing robot according to the embodiment of the present invention assembled on the connecting rod from a fourth perspective;

Figure 9 is a schematic diagram of the assembly structure of the upper holding mechanism or the lower holding mechanism of the cable climbing robot according to the embodiment of the present invention.

In the drawings, reference numerals represent:

31. First connection base body; 32. Second connection base body; 33. Toggle support arm; 34. Elastomer; 35. Support wheel assembly; 311. First assembly hole; 312. Second assembly hole; 341. Assembly bolt; 342, coil spring; 343, butterfly adjusting nut; 344, first hinge pin; 3441, first circlip; 3442, second circlip; 345, second hinge pin; 3450, pin nut ; 346. Third hinge pin; 351. Crank wheel seat; 352. First support wheel; 353. Second support wheel; 354. First bearing; 355. Second bearing; 356. Support wheel axle; 100. Cable ; 101. First climbing structure; 102. Second climbing structure; 10. Holding mechanism; 20. Driving structure; 21. Connection component; 22. Power source component; 23. First chain belt component; 24. Two chain belt components; 211, connecting frame; 212, first sliding guide rail; 213, second sliding guide rail; 221, driving motor; 222, driven pulley; 231, first chain belt; 232, first gear set; 241 , the second chain belt; 242, the second gear set; 2321, the first power gear shaft; 2322, the first tensioning gear; 2421, the second power gear shaft; 2422, the reversing gear; 2423, the second tensioning gear ; 11. Upper holding mechanism; 12. Lower holding mechanism; 13. Connecting rod; 111. Support half ring; 112. Driving device; 113. Transmission device; 114. Swing arm; 115. Clamping sole; 116. Auxiliary spring; 1131, transmission worm; 1132, transmission worm gear.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

Explanation: The following description is an example of applying the support guide wheel structure provided by the present invention to a cable climbing robot for auxiliary support. However, it is not limited to only applying the support guide wheel structure to a cable climbing robot. It can be applied to other structures that require stable sliding, such as auxiliary support in the linear sliding structure of processing machine tools. I will not give examples one by one here.

As shown in FIGS. 1 to 3 , the supporting guide wheel structure provided by the present invention includes a first connection base body 31 , a second connection base body 32 , a crank support arm 33 , an elastic body 34 and a support wheel assembly 35 . Among them, the first connection base 31 and the second connection base 32 are arranged at intervals. When the support guide wheel structure is used on the cable climbing robot for auxiliary support, the first connection base 31 and the second connection base 32 are fixed. Installed at the corresponding installation position in the robot. The crank portion of the crank support arm 33 is rotatably connected to the first connection base 31, the first end of the elastic body 34 is rotatably connected to the second connection base 32, and the second end of the elastic body 34 is connected to the crank. The support wheel assembly 35 is installed on the first end of the crank support arm 33 and the second end of the crank support arm 33 .

When this support guide wheel structure is used in a cable climbing robot for auxiliary support, since the first connection base 31 and the second connection base 32 are fixedly connected to form a fixed support point, during the climbing and moving process of the robot, The support wheel assembly 35 is always in contact with the cable 100 to play an auxiliary supporting role. When the support wheel assembly 35 encounters an obstacle during the climbing movement, the obstacle will lift the support wheel assembly 35. At this time, the obstacle will lift the support wheel assembly 35. The lifting force of the support wheel assembly 35 is transmitted to the crank support arm 33, and the crank support arm 33 rotates with the connection point of the crank portion as a fulcrum to compress the elastic body 34, so that the support wheel assembly 35 adaptively crosses over Obstacle, and in the process of crossing the obstacle, the auxiliary support state is still maintained to maintain the overall stability of the cable climbing robot. After the support wheel assembly 35 crosses the obstacle, the elastic body 34 makes the support wheel The component 35 is restored to support on the cable 100, thereby ensuring that the cable climbing robot always performs climbing movements on the cable 100 stably as a whole.

In this embodiment, the support wheel assembly 35 includes a crank wheel base 351 , a first support wheel 352 and a second support wheel 353 . The crank portion of the crank wheel seat 351 is rotatably connected to the second end of the crank support arm 33. Specifically, the assembly method of the first support wheel 352 and the second support wheel 353 are the same, both by The support wheel shaft 356 cooperates with the first bearing 354 and the second bearing 355 to complete the assembly. That is, the first bearing 354 and the second bearing 355 are installed at both ends of the support wheel shaft 356, and then the first support wheel 352 or the second support wheel 353 is assembled. On the first bearing 354 and the second bearing 355 . Generally, the fixed connection ends of the first connection base 31 and the second connection base 32 are fixedly installed in the same horizontal plane. With respect to the horizontal plane, the distance between the two end points of the crank wheel base 351 and the horizontal plane is equal. It is greater than the distance between the crank part of the crank wheel seat 351 and the horizontal plane. The first support wheel 352 is connected to the first end of the crank wheel seat 351 , and the second support wheel 353 is connected to the second end of the crank wheel seat 351 . In this way, the connection positions of the first support wheel 352 , the second support wheel 353 and the bend portion form a triangular structure. During the climbing process along the cable 100 , the first support wheel 352 , the second support wheel 353 Then, when the first support wheel 352 contacts the obstacle and passes over the obstacle, the first support wheel 352 is lifted up by the obstacle and goes around between the toggle portion and the end of the toggle support arm 33 The second support wheel 353 is still pressed against the surface of the cable 100 to maintain auxiliary support to maintain climbing stability. Similarly, when the second support wheel 353 contacts an obstacle and passes over the obstacle, the second support wheel 353 is lifted up by the obstacle and rotates around the connection node between the toggle portion and the end of the toggle support arm 33 and then lifts. At this time, the first support wheel 352 still remains against the surface of the cable 100 to maintain auxiliary support to maintain climbing stability.

Since the cable 100 is generally cylindrical, in order to increase the contact area between the wheel surface of the first support wheel 352 and/or the wheel surface of the second support wheel 353 and the surface of the cable 100, the first support wheel 352 and/or The wheel surface of the second support wheel 353 is provided in a V shape or a U shape. Preferably, the wheel surface of the first support wheel 352 and the wheel surface of the second support wheel 353 of the present invention are both arranged in a V shape. As the general cables 100 are cylindrical, using the V-shaped wheel surface to push against the cable 100 forms a covering-type push-up form, making the auxiliary support more stable.

The wheels of the first support wheel 352 and the second support wheel 353 are both covered with soft covering materials. In this way, when the first support wheel 352 and the second support wheel 353 respectively contact the cable 100 for auxiliary support, The soft covering material can prevent the cable 100 from being scratched due to rigid contact between the wheel surface and the cable 100 .

As shown in FIGS. 1 to 3 , the curved corner at the curved position of the curved wheel seat 351 of the supporting guide wheel structure is greater than 90°, and the curved corner is less than 180°. Preferably, the angle range of the curved corner at the crank position of the crank wheel base 351 supporting the guide wheel structure is 120° to 150°, and 120°, 125°, 130°, 135°, and 140° can be selected. , 145°, 150°, for example, choose 120° angle. Such angle selection can make it easier for the first support wheel 352 or the second support wheel 353 to overcome obstacles, and can also make the auxiliary support continuously stable during the obstacle passage. Further, the angle at the position of the crank portion of the crank support arm 33 is 90°, and the angle at the position of the crank portion of the crank support arm can be selected from 120°, 125°, 130°, 135°, 140°, or 145°. °, 150°. In this way, during the process of overcoming obstacles, the crank support arm 33 and the crank wheel seat 351 cooperate with each other to adaptively avoid obstacles.

The elastic body 34 supporting the guide wheel structure of this embodiment includes assembly bolts 341, coil springs 342 and butterfly adjustment nuts 343. The first end of the assembly bolt 341 is connected to the second connecting seat 32 through the first hinge pin 344. The coil spring 342 is sleeved on the assembly bolt 341. The second end of the assembly bolt 341 passes through the third end of the crank support arm 33. The assembly hole on one end is connected to the butterfly adjustment nut 343. During the obstacle surmounting process, the crank support arm 33 compresses the coil spring 342, causing the assembly bolt 341 to rotate around the central axis of the first hinge pin 344. When surmounting the obstacle, After completion, the coil spring 342 returns to its natural assembled state. During assembly, firstly, the assembly bolt 341 is matched with the first circlip 3441 and the second circlip 3442 through the first hinge pin 344 to complete the connection, then the coil spring 342 is put on the assembly bolt 341, and then the crank support arm is The first end of 33 is put on the assembly bolt 341 and compresses the coil spring 342. Finally, the butterfly adjustment nut 343 is connected to the assembly bolt 341 to compress the crank support arm 33 and pre-tighten the coil spring 342.

In this embodiment, the crank portion of the crank support arm 33 and the first connection base 31 are connected through the second hinge pin 345 and the pin nut 3450 to complete the connection. During the obstacle crossing process, the crank support arm 33 is The second hinge pin 345 serves as a fulcrum and rotates around the central axis of the second hinge pin 345 . The crank part of the crank wheel seat 351 is connected to the second end of the crank support arm 33 through the third hinge pin 346. During the obstacle crossing process, the crank wheel seat 351 revolves around the fulcrum of the third hinge pin 346. The third hinge pin 346 rotates about the central axis of the third hinge pin 346 .

When performing auxiliary support for cables 100 of different diameters and then climbing, on the basis of adapting to the cables 100 of different diameters within the compression range of the coil spring 342, in order to further expand the diameter range of the adaptive adjustment, therefore, first The connecting base 31 is provided with a first assembly hole 311 and a second assembly hole 312. The second hinge pin 345 is provided in the first assembly hole 311 or the second assembly hole 312 to adjust the second end of the crank support arm 33. The extension distance towards the cable. That is to say, when the second end of the crank support arm 33 is connected to the second assembly hole 312, the adaptive adjustment diameter range is greater than the adaptive adjustment diameter range of the second end of the crank support arm 33 is connected to the first assembly hole 311. diameter range.

According to another aspect of this embodiment, as shown in FIGS. 4 to 8 , a cable climbing robot is provided. The cable climbing robot includes: a first climbing structure 101, a second climbing structure 102, a driving structure 20 and a support wheel structure 30, wherein the support wheel structure 30 is the aforementioned support guide wheel structure, and the first climbing structure 101 is arranged opposite to the second climbing structure 102. Both the first climbing structure 101 and the second climbing structure 102 include a holding mechanism 10. The holding mechanism 10 is used to hold the cable, and the first climbing structure 101 has The holding mechanism 10 and the holding mechanism 10 on the second climbing structure 102 alternately hold the cable. Each holding mechanism 10 is equipped with a support wheel structure 30. During the process of climbing the cable, the support wheel structure 30 is constantly in contact with the cable. The driving structure 20 is disposed between the first climbing structure 101 and the second climbing structure 102 to drive the first climbing structure 101 and the second climbing structure 102 to alternately climb.

As shown in Figures 4 to 8, the cable climbing robot of this embodiment includes a first climbing structure 101, a second climbing structure 102 and a driving structure 20. The first climbing structure 101 is opposite to the second climbing structure 102. It is set that both the first climbing structure 101 and the second climbing structure 102 include a holding mechanism 10, the holding mechanism 10 is used to hold the cable, and the holding mechanism 10 on the first climbing structure 101 is in contact with the second climbing structure 101. The holding mechanism 10 on the structure 102 alternately holds the cable, and the driving structure 20 is installed between the first climbing structure 101 and the second climbing structure 102. The driving structure 20 includes a connecting component 21, a power source component 22, and a first chain. The belt assembly 23 and the second chain belt assembly 24, the connecting assembly 21 are slidably connected to the first climbing structure 101 and the second climbing structure 102 respectively, the power source assembly 22 is connected to the connecting assembly 21, the power source assembly 22 The first chain belt assembly 23 and the second chain belt assembly 24 are simultaneously driven. The first chain belt assembly 23 includes a first chain belt 231 and a first gear set 232. Both ends of the first chain belt 231 are respectively fixed on the first climbing device. At both ends of the structure 101, the first gear set 232 is connected to the connecting component 21, the first gear set 232 is engaged with the first chain belt 231, the power source component 22 is drivingly connected to the first gear set 232, and the second chain belt component 24 includes a second chain belt 241 and a second gear set 242. Both ends of the second chain belt 241 are respectively fixed to both ends of the second climbing structure 102. The second gear set 242 is connected to the connecting component 21. The group 242 is meshed and connected with the second chain belt 241, and the power source assembly 22 is drivingly connected with the second gear group 242, wherein the meshing transmission direction of the first gear group 232 and the first chain belt 231 is consistent with the second gear group 242 and the second gear group 242. The meshing transmission direction of the chain belt 241 is opposite.

The cable climbing robot is used to perform climbing actions on the cable 100, especially when performing climbing operations on bridge cables. The cable 100 is held tightly through the holding mechanism 10. The first climbing structure 101 and the second climbing structure 102 rise or fall alternately to achieve climbing movement on the cable 100. During the climbing movement, the power source assembly 22 of the driving structure 20 outputs power, thereby driving the first gear set 232 and the second gear set 242 simultaneously. Rotation, at this time, relative meshing motion is realized between the first gear set 232 and the first chain belt 231 and between the second gear set 242 and the second chain belt 241 respectively. For example, the first climbing structure 101 is tightly held and fixed on the cable 100 through the holding mechanism 10 for description. At this time, the power source assembly 22 is started to output power. At this time, the connecting assembly 21 moves upward relative to the first climbing structure 101, and the second climbing structure 102 also moves upward relative to the connecting assembly 21 (if the first climbing structure is used) The structure 101 is a motion reference object, then the upward movement speed of the connecting component 21 relative to the first climbing structure 101 is ν, and the upward movement speed of the second climbing structure 102 relative to the first climbing structure 101 is 2ν; if The connecting component 21 is a motion reference object, then the downward movement of the first climbing structure 101 relative to the connecting component 21 is v, and the upward movement speed of the second climbing structure 102 relative to the connecting component 21 is 2v). When the connecting component 21 slides upward to the upper end of the first climbing structure 101 , the connecting component 21 is located at the lower end of the second climbing structure 102 , thus completing one step of the robot climbing on the cable 100 . In the cable climbing robot of this embodiment, the mechanical joints between the first climbing structure 101, the connecting component 21, and the second climbing structure 102 are used to connect and realize relative movement, thereby making it easier to move compared to the existing technology. It reduces the joint structure design of the robot and simplifies the structural composition of the robot, which is conducive to the miniaturization and lightweight design of the robot, and reduces the difficulty of kinematic decoupling control, thereby achieving high-precision control while ensuring sufficient power. This enables the robot to carry more sufficient load transport capabilities.

In this embodiment, the first gear set 232 of the cable climbing robot includes a first power gear shaft 2321, and the second gear set 242 includes a second power gear shaft 2421 and at least one reversing gear 2422. In this embodiment, as shown in Figures 7 and 8, the power source assembly 22 is composed of a driving motor 221, a driving pulley, and a driven pulley 222. The driving motor 221 is stably connected to the connecting assembly 21, and the driving pulley is installed on the driving motor. On the output shaft of 221, the driving pulley and the driven pulley 222 are connected by a transmission belt (not shown), and the first power gear shaft 2321, the second power gear shaft 2421 and the driven pulley are coaxially integrated. manufacturing, that is: the gear teeth of the first power gear shaft 2321 and the gear teeth of the second power gear shaft 2421 are respectively located at both ends of the shaft, and the driven pulley is located in the middle of the shaft, then the power source assembly 22 drives the first power gear shaft at the same time. The power gear shaft 2321 and the second power gear shaft 2421 rotate in the same direction. As shown in Figure 6, the first chain belt 231 is wrapped around the gear teeth of the first power gear shaft 2321. After the wrapping installation is completed, the gear teeth of the first power gear shaft 2321 are located between the first chain belt 231 and the holding mechanism 10. In other words, the first chain belt 231 on the gear teeth of the first power gear shaft 2321 is arranged away from the holding mechanism 10 . The second chain belt 241 is wrapped around the reversing gear 2422, and then wound around the gear teeth of the second power gear shaft 2421. As shown in Figure 5, after the second chain belt 241 is wrapped around the reversing gear 2422, The reversing gear 2422 is located between the second chain belt 241 and the holding mechanism 10 , and the second chain belt 241 wound around the gear teeth of the second power gear shaft 2421 is disposed close to the holding mechanism 10 .

As shown in FIGS. 4 to 6 , the first gear set 232 of the cable climbing robot also includes two first tensioning gears 2322 , and the second gear set 242 further includes two second tensioning gears 2423 . The two first tensioning gears 2322 are respectively arranged on both sides of the first power gear shaft 2321. The first power gear shaft 2321 is located on the first side of the first chain belt 231. The two first tensioning gears 2322 are located on the first chain belt 231. On the second side of the belt 231, two second tensioning gears 2423 are respectively arranged on both sides of the second power gear shaft 2421. The second power gear shaft 2421 and the two second tensioning gears 2423 are located on the second chain belt 241. The reversing gear 2422 is located on the second side of the second chain belt 241 . Specifically, the number of reversing gears 2422 is two. The two reversing gears 2422 are respectively located on both sides of the second power gear shaft 2421, and are provided between the second power gear shaft 2421 and one of the second tensioning gears 2423. A reversing gear 2422.

In addition, in this embodiment, only one first tensioning gear 2322, one second tensioning gear 2423 and one reversing gear 2422 can be used instead of two first tensioning gears 2322 and two second tensioning gears 2423. and two reversing gears 2422. In the latter, the two first tensioning gears 2322 are symmetrical with respect to the central axis of the first power gear shaft 2321. In the latter, the two second tensioning gears 2423 and Both reversing gears 2422 are symmetrical with respect to the central axis of the second power gear shaft 2421 .

As shown in FIG. 9 , in this embodiment, the holding mechanism 10 includes an upper holding mechanism 11 , a lower holding mechanism 12 and a connecting rod 13 . Both the upper holding mechanism 11 and the lower holding mechanism 12 include a supporting half ring 111 , the driving device 112, the transmission device 113, at least two swing arms 114 and the clamping soles 115 connected to the swing arms 114 in one-to-one correspondence. The supporting half ring 111 of the upper holding mechanism 11 is connected to the first end of the connecting rod 13 , and the supporting half ring 111 of the lower holding mechanism 12 is connected to the second end of the connecting rod 13 . In this embodiment, a holding mechanism 10 is equipped with two connecting rods 13 , and the two connecting rods 13 are respectively provided at both ends of the supporting half ring 111 . The driving device 112 and the transmission device 113 are both installed on the supporting half ring 111. The driving device 112 is electrically connected to the controller, the driving device 112 is drivingly connected to the transmission device 113, and the swing arm 114 is connected to the transmission device 113 to drive the clamping sole 115 Clamp the cable. During the climbing movement, the controller controls the driving device 112 to output power, and then transmits the power to the swing arm 114 through the transmission device 113, so that the swing arm 114 drives the clamping sole 115 to hold the cable 100 tightly. The transmission device 113 The device 113 is composed of a transmission worm 1131 and a transmission worm gear 1132 . Specifically, the cable climbing robot of this embodiment is equipped with two swing arms 114 and two transmission worm gears 1132. The first end of the swing arm 114 is fixedly connected to one of the transmission worm gears 1132, and the clamping sole 115 is fixed on the corresponding The second end of the swing arm 114 and both ends of the transmission worm 1131 are provided with meshing threads. Two transmission worm gears 1132 are arranged at intervals and are assembled in one-to-one correspondence with the meshing threads at both ends of the transmission worm 1131 . When the driving device 112 drives the transmission worm 1131 to rotate forward, the transmission worm 1131 meshes with the transmission worm gear 1132 for transmission, so that the transmission worm gear 1132 drives the swing arm 114 to open; when the driving device 112 drives the transmission worm 1131 to reverse rotation, the transmission The worm 1131 is engaged with the transmission worm gear 1132 for transmission, so that the transmission worm gear 1132 drives the swing arm 114 .

As shown in Figure 9 , auxiliary springs 116 are also provided on the supporting half rings 111 in one-to-one correspondence. The first end of the auxiliary springs 116 is connected to the supporting half rings 111 , and the second end of the auxiliary springs 116 is connected to the clamping sole 115 The back side of the foot is clamped and assembled through bearings between the sole 115 and the swing arm 114. In this way, when the clamping foot 115 is clamping the cable 100 and the clamping foot 115 adapts to the cylindrical curvature of the cable 100, the auxiliary spring 116 can assist the clamping foot 115 to always maintain stability. Even when cables 100 with different radii are used, the auxiliary spring 116 assists in adjusting and quickly adapts the fit.

Further, the cable climbing robot also includes a controller (not shown), and the number of the driving structures 20 is two, and the two driving structures 20 are arranged oppositely. In this embodiment, as shown in Figures 7 and 8, the connection assembly 21 includes a connection frame 211, a first guide rail structure and a second guide rail structure. The guide groove of the first guide rail structure is provided on the first side of the connection frame 211. , the guide groove of the second guide rail structure is provided on the second side of the connecting frame 211, the first sliding guide rail 212 of the first guide rail structure is fixed on the corresponding connecting rod 13, and the second sliding guide rail 213 of the second guide rail structure is fixed on the corresponding connecting rod 13. on the connecting rod 13. The controller is installed on the connection frame 211 of the connection component 21 of one of the drive structures 20 , and is electrically connected to the power source components 22 of the two drive structures 20 to control the two power source components 22 to output driving force synchronously. The controller controls the two driving structures 20 to output driving force at the same time, thereby ensuring the load transportation capability of the cable climbing robot to a greater extent.

Specifically, a detection device (not shown) is installed on the support half ring 111 of the upper holding mechanism 11, and the detection device is electrically connected to the controller. Since the loading and transportation capabilities of the cable climbing robot in this embodiment have been greatly improved compared to existing cable climbing robots, the cable climbing robot in this embodiment can carry larger and more precise detection devices. In this way, more comprehensive and detailed inspection data can be obtained, and at the same time, a larger power supply can be provided to provide sufficient power to satisfy the robot's long-term inspection work.

When applying the cable climbing robot of this embodiment, the following implementation steps are specifically included:

Step 1: Preparation for going online. Assemble the first climbing structure 101, the second climbing structure 102, and the driving structure 20 on the cable 100, and clamp the soles 115 of the first climbing structure 101 to the cable 100. ;

The second step: drive the second climbing structure 102 to move upward relative to the first climbing structure 101 through the driving structure 20. At this time, the clamping soles 115 of the second climbing structure 102 open and break away from the cable 100;

Step 3: When the connecting component 21 of the driving structure 20 is located at the lower end of the second climbing structure 102 and the connecting component 21 of the driving structure 20 is located at the upper end of the first climbing structure 101, at this time, the clamp of the second climbing structure 102 The tightening soles 115 hug the cable 100, and the clamping soles 115 of the first climbing structure 101 open and break away from the cable 100, and then drive the first climbing structure 101 to move upward relative to the second climbing structure 102 through the driving structure 20;

Step 4: When the connecting component 21 of the driving structure 20 is located at the lower end of the first climbing structure 101 and the connecting component 21 of the driving structure 20 is located at the upper end of the second climbing structure 102, then repeat the second and third steps in a loop. , until the walking task ends.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (9)

1. A supporting guide wheel structure, characterized in that it includes: a first connecting seat body (31), a second connecting seat body (32), a crank support arm (33), an elastic body (34) and a supporting wheel assembly. (35), the first connection base body (31) and the second connection base body (32) are spaced apart, and the crank portion of the crank support arm (33) is rotatably connected to the first connection base body (32). Connecting base body (31), the first end of the elastic body (34) is rotatably connected to the second connecting base body (32), and the second end of the elastic body (34) is connected to the curved base body (32). The first end of the crank support arm (33), the support wheel assembly (35) includes a crank wheel base (351), a first support wheel (352) and a second support wheel (353). The crank wheel The toggle portion of the seat (351) is rotatably connected to the second end of the toggle support arm (33), and the first support wheel (352) is connected to the third end of the toggle wheel seat (351). At one end, the second support wheel (353) is connected to the second end of the crank wheel seat (351). 2. The support guide wheel structure according to claim 1, characterized in that the wheel surface of the first support wheel (352) and/or the second support wheel (353) is arranged in a V shape or a U shape. 3. The support guide wheel structure according to claim 2, characterized in that the wheel surfaces of the first support wheel (352) and the second support wheel (353) are covered with soft covering materials. 4. The supporting guide wheel structure according to claim 2 or 3, characterized in that the curved angle at the position of the curved portion of the curved wheel base (351) is greater than 90°. 5. The support guide wheel structure according to claim 4, characterized in that the corner at the position of the crank portion of the crank support arm (33) is 90°. 6. The support guide wheel structure according to claim 5, characterized in that the elastic body (34) includes an assembly bolt (341), a coil spring (342) and a butterfly adjustment nut (343), and the assembly bolt The first end of (341) is connected to the second connecting seat body (32) through a first hinge pin (344), and the coil spring (342) is sleeved on the assembly bolt (341). The second end of the assembly bolt (341) passes through the assembly hole on the first end of the crank support arm (33) and is connected to the butterfly adjustment nut (343). 7. The support guide wheel structure according to claim 6, characterized in that the crank part of the crank support arm (33) and the first connecting seat (31) pass through a second hinge pin (345). ) connection, the crank portion of the crank wheel base (351) is connected to the second end of the crank support arm (33) through a third hinge pin (346). 8. The support guide wheel structure according to claim 7, characterized in that the first connection base body (31) is provided with a first assembly hole (311) and a second assembly hole (312). Two hinge pins (345) are provided in the first assembly hole (311) or the second assembly hole (312) to adjust the extension distance of the second end of the crank support arm (33) toward the cable. 9. A cable climbing robot, including: a first climbing structure (101), a second climbing structure (102), a driving structure (20) and a support wheel structure (30), characterized in that the support wheel structure (30) is the supporting guide wheel structure according to any one of claims 1 to 8, the first climbing structure (101) and the second climbing structure (102) are arranged oppositely, and the first climbing structure (101) is arranged opposite to the second climbing structure (102). Both the climbing structure (101) and the second climbing structure (102) include a holding mechanism (10) for holding the cable, and the first climbing structure (101) The holding mechanism (10) on the upper climbing structure (102) alternately holds the cable with the holding mechanism (10) on the second climbing structure (102), and the support is installed on each holding mechanism (10) Wheel structure (30). During the process of climbing the cable, the support wheel structure (30) is in constant contact with the cable. The driving structure (20) is provided between the first climbing structure (101) and the cable. between the second climbing structure (102) to drive the first climbing structure (101) and the second climbing structure (102) to climb alternately.