Cable climbing robot

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Cable climbing robot

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DING NING / HU XIAOLI / ZHANG AIDONG

The invention discloses a cable climbing robot. The cable climbing robot comprises a walking mechanism and a gravity self-locking module, wherein the walking mechanism is used for moving in the axial direction of a cable, and the gravity self-locking module is connected to the walking mechanism; the gravity self-locking module is provided with a hanging ring used for hanging a heavy object and a sole used for holding the cable tightly under the gravity traction of the heavy object. Under the action of the gravity self-locking module, the walking mechanism can automatically adjust the friction force between the walking mechanism and the cable according to whether the gravity self-locking module drags the heavy object or not and the mass of the dragged heavy object, and the connection strength of the walking mechanism and the cable is guaranteed. The gravity self-locking module belongs to an under-actuated sole gravity self-locking mechanism, the walking mechanism can be assisted to meet traction and dragging of heavy-load heavy objects, the number of power equipment cannot be increased, light weight of the cable climbing robot is facilitated, and the requirement for heavy-load traction and dragging operation of the cable climbing robot is met.

本发明公开了一种缆索攀爬机器人，包括用以沿缆索的轴向移动的行走机构和连接于行走机构的重力自锁模块；重力自锁模块具有用以悬吊重物的吊环和用以在重物的重力牵引下抱紧缆索的足掌。在重力自锁模块的作用下，前述行走机构能够根据重力自锁模块是否牵引重物以及牵引的重物的质量自动调整其与缆索之间的摩擦力，保障行走机构与缆索的连接强度。其中，重力自锁模块属于欠驱动的足掌重力自锁机构，不仅能够辅助行走机构满足大负载重物的牵引拖拽，而且不会增加动力设备的数量，有利于该缆索攀爬机器人的轻量化，满足该缆索攀爬机器人的大负载牵引拖拽作业。