CN-116442261-B - Maintenance robot

CN116442261BCN 116442261 BCN116442261 BCN 116442261BCN-116442261-B

Abstract

The application discloses an overhaul robot which comprises a frame, a climbing device, a middle overhaul device and side overhaul devices, wherein the climbing device is arranged on the frame and used for climbing along the extending direction of a rope, the middle overhaul device is arranged on the frame and used for overhaul of a body to be detected, and the side overhaul device is arranged on the frame and used for overhaul of the body to be detected. According to the scheme, the climbing device is used for climbing the ropes on two sides of the main cable, so that the middle overhaul device and the side overhaul devices can overhaul the main cable rapidly and conveniently, and operators do not need to work aloft.

Inventors

DING NING
YUAN XIAOQIANG
WANG CHAO
LI DECHENG

Assignees

深圳市人工智能与机器人研究院

Dates

Publication Date: 20260505
Application Date: 20230529

Claims (8)

1. An inspection robot, comprising: A frame; the climbing device is arranged on the rack and used for climbing along the rope; The middle overhaul device is arranged on the rack and used for overhauling the body to be detected; The side part overhauling device is arranged on the rack and is used for overhauling a body to be detected; The climbing device comprises: A first frame; the second frame is arranged in a sliding manner relative to the first frame; the power assembly is connected with the first frame and the second frame and used for driving the first frame and the second frame to slide relatively; the first clamping assembly is arranged on the first frame and used for clamping the rope; The second clamping assembly is arranged on the second frame and used for clamping the rope; one of the first clamping component and the second clamping component is in a clamping state, the other one of the first clamping component and the second clamping component is in a loosening state, and the power component can drive the first frame and the second frame to slide relatively so that the climbing device can climb along a rope; The climbing device further includes: The first climbing mechanism comprises a first driving assembly, two first sliding seats, at least two first roller assemblies and at least two first clamping assemblies, wherein the two first sliding seats are arranged on the first frame in a sliding manner, the sliding direction of the first sliding seats is perpendicular to the sliding direction of the first frame relative to the second frame, the first driving assembly is used for driving the two first sliding seats to move relatively far away from or close to each other, and each first sliding seat is provided with the first roller assemblies and the first clamping assemblies; the second climbing mechanism comprises a second driving assembly, two second sliding seats, at least two second roller assemblies and at least two second clamping assemblies, wherein the two second sliding seats are arranged on the second frame in a sliding mode, the sliding direction of the second sliding seats is perpendicular to that of the second frame relative to that of the first frame, the second driving assembly is used for driving the two second sliding seats to move relatively far away from or close to each other, and the second roller assemblies and the second clamping assemblies are all arranged on the second sliding seats.
2. The service robot of claim 1, wherein the power assembly comprises: the power piece is fixedly arranged on the first frame; the transmission piece is at least partially arranged on the second frame along the sliding direction of the second frame; the power wheel is connected with the driving shaft of the power piece and is in transmission connection with the transmission piece.
3. An inspection robot in accordance with claim 2 wherein said transmission member is one of a chain, a rack or a belt.
4. The service robot of claim 1, wherein the climbing device further comprises: The first roller assembly is arranged on the first frame, and rollers of the first roller assembly are used for rolling on ropes; The second roller assembly is arranged on the second frame, and rollers of the second roller assembly are used for rolling on ropes.
5. The overhauling robot of claim 4, wherein the first roller assembly comprises a first mounting seat, a first swinging rod, a first roller structure and a first buffer structure, wherein the first mounting seat is fixedly arranged on the first frame, one end part of the first swinging rod is rotationally connected with the first mounting seat, the other end part of the first swinging rod is connected with the first roller structure, and the first buffer structure is connected with the first mounting seat and the first swinging rod and is used for buffering swinging of the first swinging rod; the second roller assembly comprises a second mounting seat, a second swing rod, a second roller structure and a second buffer structure, wherein the second mounting seat is fixedly arranged on the second frame, one end part of the second swing rod is rotationally connected with the second mounting seat, the other end part of the second swing rod is connected with the second roller structure, and the second buffer structure is connected with the second mounting seat and the second swing rod and is used for buffering swing of the second swing rod.
6. The overhauling robot of claim 5, wherein the first buffer structure comprises a first sleeve, a first telescopic rod and a first elastic piece, wherein the first sleeve is rotationally connected with the first mounting seat, the first telescopic rod is rotationally connected with the first swinging rod, the first telescopic rod is slidingly connected with the first sleeve, and the first elastic piece is arranged on the first sleeve and the first telescopic rod and used for buffering the relative approaching movement of the first sleeve and the first telescopic rod; the second buffer structure comprises a second sleeve, a second telescopic rod and a second elastic piece, wherein the second sleeve is rotationally connected with the second mounting seat, the second telescopic rod is rotationally connected with the second swing rod, the second telescopic rod is slidably connected with the second sleeve, and the second elastic piece is arranged on the second sleeve and the second telescopic rod and used for buffering the second sleeve and the second telescopic rod to move relatively close to each other.
7. The overhauling robot according to claim 1, wherein the first driving assembly comprises two first screw rods, two first universal joint structures and a first driving structure, the two first screw rods are rotatably arranged on the first frame and are in one-to-one threaded connection with the first sliding seat, the two first universal joint structures are respectively connected with the end parts of the first screw rods, and the first driving structure is simultaneously connected with the two first universal joint structures and is used for simultaneously driving the two first screw rods to rotate in the same direction or in the opposite direction; The second driving assembly comprises two second screw rods, two second universal joint structures and a second driving structure, the two second screw rods are all rotatably arranged on the second frame and are in threaded connection with the second sliding seats one by one, the two second universal joint structures are respectively connected with the end parts of the second screw rods, and the second driving structure is simultaneously connected with the two second universal joint structures and is used for simultaneously driving the two second screw rods to rotate in the same direction or in opposite directions.
8. The service robot of claim 1, wherein the middle service device comprises: the first lifting mechanism is arranged on the frame; the first maintenance mechanism is arranged on the first lifting mechanism and is used for controlling the first maintenance mechanism to move up and down; The side overhaul device includes: the second lifting mechanism is arranged on the frame; the second overhauling mechanism is arranged on the second lifting mechanism and is used for controlling the second overhauling mechanism to move up and down.

Description

Maintenance robot Technical Field The invention relates to the technical field of robots, in particular to an overhaul robot. Background The main cable is a main bearing member of the suspension bridge, and the protection principle of the main cable is that the main cable is preserved in a mode of 'protective putty + winding steel wires + outer protective coating', wherein the outer protective coating is easy to age and crack in the air. In the related art, a worker controls an unmanned aerial vehicle to run along the extending direction of a main cable, and the unmanned aerial vehicle detects the problems of aging, cracking and the like of an outer protective layer. Then, a lifting vehicle is used for lifting maintenance personnel, and the maintenance personnel maintain parts with serious ageing and cracking of the main cable according to the detection condition of the unmanned aerial vehicle. However, the crank arm vehicle needs to occupy a road during use, which easily causes road congestion. And when the main cable is maintained, workers need to work at high altitude on the crank arm vehicle, so that the safety problem exists. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the overhaul robot which can facilitate overhaul of the main cable. The embodiment of the application provides an overhaul robot, which comprises the following components: A frame; the climbing device is arranged on the rack and used for climbing along the rope; The middle overhaul device is arranged on the rack and used for overhauling the body to be detected; The side part overhauling device is arranged on the frame and used for overhauling a body to be detected. According to some embodiments of the invention, the climbing device comprises: A first frame; the second frame is arranged in a sliding manner relative to the first frame; the power assembly is connected with the first frame and the second frame and used for driving the first frame and the second frame to slide relatively; The first clamping assembly is arranged on the first frame and is used for clamping the rope; the second clamping assembly is arranged on the second frame and is used for clamping the rope; One of the first clamping component and the second clamping component is in a clamping state, the other one of the first clamping component and the second clamping component is in a loosening state, and the power component can drive the first frame and the second frame to slide relatively, so that the climbing device can climb along the extending direction of the rope. According to some embodiments of the invention, the power assembly comprises: the power piece is fixedly arranged on the first frame; the transmission piece is at least partially arranged on the second frame along the sliding direction of the second frame; the power wheel is connected with the driving shaft of the power piece and is in transmission connection with the transmission piece. According to some embodiments of the invention, the transmission member is one of a chain, a rack or a belt. According to some embodiments of the invention, the climbing device further comprises: The first roller assembly is arranged on the first frame, and rollers of the first roller assembly are used for rolling on ropes; The second roller assembly is arranged on the second frame, and rollers of the second roller assembly are used for rolling on ropes. According to some embodiments of the present invention, the first roller assembly includes a first mounting seat, a first swing rod, a first roller structure and a first buffer structure, where the first mounting seat is fixedly disposed on the first frame, one end of the first swing rod is rotationally connected with the first mounting seat, and the other end of the first swing rod is connected with the first roller structure, and the first buffer structure is connected with the first mounting seat and the first swing rod and is used for buffering the swing of the first swing rod; the second roller assembly comprises a second mounting seat, a second swing rod, a second roller structure and a second buffer structure, wherein the second mounting seat is fixedly arranged on the second frame, one end part of the second swing rod is rotationally connected with the second mounting seat, the other end part of the second swing rod is connected with the second roller structure, and the second buffer structure is connected with the second mounting seat and the second swing rod and is used for buffering swing of the second swing rod. According to some embodiments of the invention, the first buffer structure includes a first sleeve, a first telescopic rod and a first elastic member, the first sleeve is rotationally connected with the first mounting seat, the first telescopic rod is rotationally connected with the first swing rod, the first telescopic rod is slidably conn