CN113428252B - Cable climbing robot - Google Patents

Abstract

The invention discloses a cable climbing robot, comprising: at least two groups of running mechanisms moving along the axial direction of the cable and adjusting mechanisms connected with the running mechanisms; the adjusting mechanism is used for adjusting the distance between the adjacent travelling mechanisms so that the cable climbing robot is suitable for cables with different cable diameters; the running mechanisms are uniformly distributed along the circumferential direction of the cable. The cable climbing robot provided by the invention can be suitable for cables with different cable diameters in the using process; and in the process of adjustment, the distance between adjacent travelling mechanisms can be directly changed, so that the method is applicable to a larger cable diameter change range.

Description

A rope climbing robot

technical field

The present invention relates to the technical field of cable maintenance equipment, and more particularly, to a cable climbing robot.

Background technique

The cable is generally cylindrical, the diameter of the cable and suspension cable is between 50-180mm, and the installation angle is inclined from 30° to 90° to be completely vertical.

At present, cable robots are generally suitable for fixed cable diameter cables or small-scale cable diameter changes, and the small-scale cable diameter changes here are generally only used for obstacle crossing requirements, and cannot be universal to various specifications of cables, and have certain limitations.

To sum up, how to make the cable climbing robot suitable for a wide range of cable diameter changes is an urgent problem to be solved by those skilled in the art at present.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a cable climbing robot, in the process of use, the distance between adjacent walking mechanisms can be adjusted through the adjustment mechanism, so as to be suitable for cables with different cable diameters; In the process of adjustment, the distance between adjacent running mechanisms can be directly changed, so it can be applied to a larger variation range of cable diameter.

In order to achieve the above object, the present invention provides the following technical solutions:

A cable climbing robot, comprising: at least two groups of walking mechanisms that move along the cable axis and an adjusting mechanism connected to the walking mechanisms;

The adjustment mechanism is used to adjust the distance between the adjacent walking mechanisms, so that the cable climbing robot is suitable for the cables of different cable diameters; the walking mechanisms are evenly distributed along the circumference of the cables.

Preferably, the traveling mechanism includes a wheel assembly for contacting the cable and a power transmission assembly for driving the wheel assembly to rotate;

The wheel assembly includes two coaxial and spaced apart wheels.

Preferably, the surface of the wheel for contacting the cable is provided with soft rubber.

Preferably, the single walking mechanism includes two sets of the wheel assemblies spaced along the traveling direction of the cable climbing robot, and the two sets of the wheel assemblies are connected to form a four-wheel drive system through synchronous wheels and synchronous belts.

Preferably, the traveling mechanism is provided with a frame, two shock absorbing devices located at the front end and the rear end of the frame, and a connecting frame, one end of the connecting frame is connected to the shock absorbing device located at the front end of the frame. In a hinged connection, the other end of the connecting frame is fixedly connected with the shock absorbing device located at the rear end of the frame.

Preferably, the adjusting mechanism includes a screw rod, a first connecting block, a second connecting block spaced from the first connecting block, and two sets of three-link structures;

The first connecting block is rotatably sleeved on the screw rod and is axially fixed relative to the screw rod; the second connecting block is threadedly connected with the screw rod;

The two sets of the three-link structures are hingedly connected to the first connection block at one end, and hingedly connected to the second connection block at the other end;

The two sets of the three-link structures are respectively arranged on both sides of the screw rod to be connected with the adjacent walking mechanisms respectively, and the links in the middle of the two sets of the three-link structures are connected to the screw rods. The rods are set in parallel.

Preferably, the adjusting mechanism is provided with a locking device for restricting the axial rotation of the screw rod.

Preferably, it also includes a self-locking mechanism and a load body, the self-locking mechanism is connected to at least one of the walking mechanism and the adjusting mechanism;

The self-locking mechanism is provided with a hoisting ring for connecting the load body and a sole for holding the cable under the gravitational traction of the load body;

The load body is provided with a gripping device for gripping the cable, and the self-locking mechanism is connected with the load body through a retractable winding device.

Preferably, the self-locking mechanism includes a sole mounting seat, a first guide rail slider assembly, and a second guide rail slider assembly whose orientation is perpendicular to the first guide rail slider;

The slider of the first guide rail slider assembly is used for connecting with the adjusting mechanism, and the slider in the second guide rail slider assembly is used for connecting with the running mechanism.

Preferably, a connecting slider, a sliding rail matched with the connecting slider and connected to the sole of the foot, and an adjusting portion for adjusting the pressure of the sole of the foot to the cable are fixedly arranged on the bottom of the sole of the foot;

The adjusting part includes a first link, a second link, the pull ring, and a spring connecting the sole of the foot and the sole of the sole of the foot, the first link, the second link and the The pull rings are hinged to the same hinge shaft, the first link is hingedly connected to the sole of the foot, and the second link is hinged to the sole of the foot.

In the process of using the cable climbing robot provided by the present invention, firstly, it is necessary to connect the traveling mechanism with the adjusting mechanism, and adjust the distance between the adjacent traveling mechanisms through the adjusting mechanism, so that the traveling mechanism and the cable are in close contact with each other. When the force is appropriate, the movement of the walking mechanism is controlled, and the cable climbing robot moves along the axis of the cable, so as to realize the inspection or maintenance of the cable.

Compared with the prior art, the cable climbing robot provided by the present invention has the following beneficial effects during use:

(1) It can be applied to cables with different cable diameters, and in the process of adjustment, the distance between adjacent walking mechanisms can be directly changed, so it can be applied to a larger range of cable diameter changes;

(2) The self-locking mechanism is a powerless under-drive mode, with a small mass of itself, which can drive a large mass of load and has a high load capacity;

(3) The walking mechanism adopts a four-wheel drive structure with light weight and low power consumption, which improves the climbing speed of the cable climbing robot.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

FIG. 1 is a schematic structural diagram of a specific embodiment 1 of a cable climbing robot provided by the present invention;

FIG. 2 is a schematic structural diagram of a specific embodiment 2 of the cable climbing robot provided by the present invention;

Fig. 3 is the structural representation of the traveling mechanism;

Fig. 4 is the structural representation of adjustment mechanism;

FIG. 5 is a schematic structural diagram of the self-locking mechanism.

In Figure 1-5:

1 is a traveling mechanism, 101 is a wheel, 102 is a shock absorber, 103 is a right-angle reducer, 104 is a motor, 105 is a connecting frame, 106 is a driver, 107 is a synchronous wheel, 108 is a synchronous belt, 109 is a support block, 110 2 is the frame, 2 is the adjusting mechanism, 201 is the screw rod, 202 is the first connecting block, 203 is the second connecting block, 204 is the locking device, 205 is the rotary wheel, 206 is the three-link structure, and 2061 is the third Connecting rod, 2062 is the fourth connecting rod, 2063 is the fifth connecting rod, 2064 is the sixth connecting rod, 3 is the self-locking mechanism, 301 is the sole of the foot, 302 is the sole of the foot mounting seat, and 303 is the first guide rail slider assembly , 304 is the second guide rail slider assembly, 305 is the slide rail, 306 is the spring, 307 is the lifting ring, 308 is the first link, 309 is the second link, 4 is the pull rope, 5 is the load body, 6 is the cable .

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The core of the present invention is to provide a cable climbing robot, in the process of use, the distance between adjacent walking mechanisms can be adjusted through the adjustment mechanism, so as to be suitable for cables with different cable diameters; and during the adjustment process , the distance between adjacent running mechanisms can be directly changed, so it can be applied to a larger range of cable diameter changes.

Please refer to Figure 1-5.

This specific embodiment provides a cable climbing robot, comprising: at least two groups of walking mechanisms 1 that move axially along the cable 6 and an adjustment mechanism 2 connected to the walking mechanism 1; the adjustment mechanism 2 is used to adjust the adjacent walking mechanisms 1 The distance between them is so that the cable climbing robot is suitable for cables 6 of different cable diameters; the walking mechanisms 1 are evenly distributed along the circumferential direction of the cables 6 so that the center of gravity of the walking mechanism 1 is centered.

Preferably, four groups of walking mechanisms 1 are provided, the walking mechanisms 1 are arranged at 90° intervals in the circumferential direction of the cable 6, and the adjusting mechanism 2 is connected with the walking mechanisms 1 on the adjacent two sides, so that the walking mechanism 1 and the adjusting mechanism 2 are connected. A closed ring is formed around the outer circumference of the cable 6. By adjusting the adjusting mechanism 2, the size of the ring structure composed of the traveling mechanism 1 and the adjusting mechanism 2 can be changed, so as to be suitable for cables 6 with different cable diameters.

In the process of using the cable climbing robot provided by this specific embodiment, first, the traveling mechanism 1 needs to be connected with the adjusting mechanism 2, and the distance between the adjacent traveling mechanisms 1 is adjusted by the adjusting mechanism 2, so that the traveling mechanism 1 Fitting with the cable 6 and having a suitable sticking force, the movement of the walking mechanism 1 is controlled, and the cable climbing robot moves axially along the cable 6 , so as to realize the inspection or maintenance of the cable 6 .

Compared with the prior art, the cable climbing robot provided by this specific embodiment can be applied to cables 6 with different cable diameters during use; and during the adjustment process, the distance between adjacent walking mechanisms 1 can be directly changed. The distance, therefore, can be applied to a larger range of cable diameter variations.

On the basis of the above embodiment, as shown in FIG. 3 , the traveling mechanism 1 includes a wheel assembly for contacting with the cable 6 and a power transmission assembly for driving the wheel assembly to rotate; the wheel assembly includes two coaxial and spaced apart wheels 101 .

The two wheels 101 arranged coaxially are in the process of surface contact of the cable 6, both the wheels 101 are in line contact with the cable 6, and from the point of contact between the two wheels 101 and the cable 6, the cross-sectional circle of the cable 6 is The tangent of the two contact points is V-shaped, which can effectively increase the contact area between the wheel 101 and the cable 6 , increase the frictional force, and effectively prevent the wheel 101 from slipping.

Preferably, soft rubber may be provided on the surface of the wheel 101 for contacting with the cable 6 to increase the coefficient of friction.

As shown in FIG. 3 , the traveling mechanism 1 includes a wheel 101 , a shock absorbing device 102 , a right-angle reducer 103 , a motor 104 , a connecting frame 105 , a driver 106 , a synchronous wheel 107 , a synchronous belt 108 , a support block 109 , a frame 110 , and a motor 104 is connected to the right angle reducer 103, the motor 104 driver 106 is installed on the frame 110, and support blocks 109 are provided on both sides of the frame 110, which can protect the output shaft of the right angle reducer 103; preferably, the motor 104 can be set to a low power motor 104 in order to reduce the power consumption and overall mass of the running gear 1 . A single walking mechanism 1 includes two sets of wheel assemblies spaced along the traveling direction of the cable climbing robot, and the two sets of wheel assemblies are connected to form a four-wheel drive system through a synchronous wheel 107 and a synchronous belt 108, and two sides of the right-angle reducer 103 are provided with a A set of wheel assemblies, the rear end of the frame 110 is also provided with another set of wheel assemblies, and the setting of the four-wheel drive system can improve the ability of the cable climbing robot to walk and overcome obstacles. The frame 110 is connected to the connecting frame 105 through two front and rear shock absorbing devices 102, the front shock absorbing device 102 is hinged with the connecting frame 105, and the rear shock absorbing device 102 is fixedly connected to the connecting frame 105, which is conducive to adapting to the front and rear wheels 101 to cross obstacles The deflection produced by the frame 110 at the time. The connecting frame 105 is used for connecting with the adjusting mechanism 2 , so that the traveling mechanism 1 and the adjusting mechanism 2 form an outer frame surrounding the cable 6 .

In another specific embodiment, the adjustment mechanism 2 includes a screw rod 201, a first connecting block 202, a second connecting block 203 spaced from the first connecting block 202, and two sets of three-link structures 206; the first connecting block 202 The second connecting block 203 is threadedly connected with the screw 201; the two sets of three-link structures 206 are both hingedly connected at one end to the first connecting block 202, The other end is hingedly connected to the second connecting block 203; the two sets of three-link structures 206 are respectively arranged on both sides of the screw rod 201 to be connected with the adjacent walking mechanisms 1 respectively, and the two sets of three-link structures 206 are located in the middle. The connecting rods are all arranged in parallel with the lead screw 201 .

As shown in FIG. 4 , the adjustment mechanism 2 includes a screw rod 201, a first connecting block 202, a second connecting block 203, a locking device 204, a rotary wheel 205, a three-link structure 206, a third link 2061, a fourth link Rod 2062, fifth connecting rod 2063, sixth connecting rod 2064; the first connecting block 202 is mounted on one end of the screw rod 201 through a bearing, and the other end of the screw rod 201 is threadedly connected with a second connecting block 203, any group of three The connecting rod structure 206 includes a third connecting rod 2061, a fourth connecting rod 2062 and a sixth connecting rod 2064 that are hingedly connected end to end. The head end of the third connecting rod 2061 is hinged with the first connecting block 202, and the sixth connecting rod 2064 The end of the screw rod 201 is hinged with the second connecting block 203; the end of the screw rod 201 is provided with a rotary wheel 205 and a locking device 204. The rotary rotary wheel 205 can drive the screw rod 201 to rotate. During the rotation of the screw rod 201, it can drive the first The second connecting block 203 approaches or moves away from the first connecting block 202 . When the second connecting block 203 approaches or moves away from the first connecting block 202 , the vertical linear distance between the fourth connecting rod 2062 and the lead screw 201 changes. , so as to change the circumferential dimension of the outer frame formed by the traveling mechanism 1 and the adjusting mechanism 2, so as to be suitable for cables 6 with different cable diameters. When the second connecting block 203 approaches or moves away from the first connecting block 202 , the pressure applied by the traveling mechanism 1 to the cable 6 can also be adjusted, thereby controlling the frictional force during the traveling process of the traveling mechanism 1 .

Preferably, the locking device 204 is composed of an aluminum block through which the screw rod 201 passes and a rotating handle. When adjusted to a desired position, the screw rod 201 is locked by rotating the handle.

Preferably, it also includes a second link 309 with one end hinged to the second connecting block 203 and the other end hinged to the fourth link 2062. As shown in FIG. 4, the fifth link 2063 is arranged parallel to the sixth link 2064, During use, the second connecting block 203 can be made more stable when approaching or moving away from the first connecting block 202 .

In the process of using the cable-climbing robot provided by this specific embodiment, when the robot is equipped with a light load such as vision, the load can be directly installed on the walking mechanism 1, and the robot can move on the cable 6. Visual inspection of the surface; when the cable climbing robot needs to drive a heavy load, the self-locking mechanism 3 needs to be installed, the load is installed on the load body 5, and the load body 5 is connected to the self-locking mechanism 3 through the pull rope 4, the load It can be a magnetic leakage MFL sensor that detects internal wire breakage, a special repair tool, etc. When the load body 5 is pulled, the self-locking mechanism 3 holds the cable 6 tightly, and a winding device is installed on the load body 5. rise and fall.

It should be noted that the self-locking mechanism 3 is a self-locking device whose holding force has nothing to do with the gravity of the load. If a corresponding pulling force acts on the self-locking mechanism 3, the self-locking mechanism 3 will produce a holding force corresponding to the pulling force. The force has nothing to do with the weight of the load; in the process of use, the load body 5 needs to cooperate with the self-locking mechanism 3 to move.

As shown in FIG. 5 , the self-locking mechanism 3 includes a sole 301 , a sole mounting seat 302 , a first guide rail slider assembly 303 , a second guide rail slider assembly 304 , a slide rail 305 , a spring 306 , a suspension ring 307 , a first Rod 308, second link 309; during use, the self-locking mechanism 3 is connected to at least one of the walking mechanism 1 and the adjusting mechanism 2; the self-locking mechanism 3 is provided with a lifting ring 307 for connecting the load body 5 And the soles 301 of the feet that hold the cable 6 under the gravitational pull of the load body 5 .

It should be noted that the load body 5 is provided with a device for holding the cable 6, which can be hydraulic or electric; according to the lifting distance of the load body 5, it can be divided into two situations: the lifting distance is short and the lifting distance is short. long.

The number of the self-locking mechanisms 3 in the same cable climbing robot needs to be determined according to the actual situation, which will not be repeated here.

When the ascending distance is short, the working process of the cable climbing robot with the load body 5 is as follows:

In the first step, the cable climbing robot climbs up to a certain fixed position, and while the robot climbs, the winding device on the load body 5 follows the pay-off;

In the second step, the winding device takes up the wire, the self-locking mechanism 3 on the cable climbing robot stretches out the sole 301 under the action of gravity, and the sole 301 of the self-locking mechanism 3 holds the cable 6 tightly. Continue to take up the wire, the load body 5 rises until the load body 5 rises to the desired position.

When the ascending distance is long, the working process of the cable climbing robot with the load body 5 is as follows:

In the first step, the cable climbing robot crawls upward for a certain distance, while the cable climbing robot crawls, the winding device follows the pay-off;

In the second step, the winding device takes up the wire, and the self-locking mechanism 3 on the cable climbing robot makes the sole 301 hold the cable 6 under the action of gravity. As the winding device continues to take up the wire, the load body 5 rises to the When the position is specified, the holding device on the load body 5 holds the cable 6 again;

In the third step, the winding device pays off the wire first, the self-locking module is retracted under the action of the spring 306, and the cable climbing robot climbs up a certain distance while continuing to pay off the wire;

The fourth step is to release the holding device on the load body 5, the self-locking mechanism 3 holds the cable 6 under the action of gravity, the winding device takes up the wire, and when the load body 5 rises to the designated position, the hold on the load body 5 The tightening device holds the cable 6 tightly.

By repeating the above steps, the robot and the load body 5 achieve an alternate rise, and when the cable-climbing robot moves downward, its action sequence is reversed.

On the basis of the above embodiment, as shown in FIG. 5 , the self-locking mechanism 3 includes a sole mounting seat 302 , a first guide rail slider assembly 303 and a second guide rail slider assembly 304 arranged in a direction perpendicular to the first guide rail slider The slider of the first guide rail slider assembly 303 is used to connect with the adjustment mechanism 2, and the slider in the second guide rail slider assembly 304 is used to connect with the traveling mechanism 1, so that the self-locking mechanism 3 can follow the adjustment mechanism 2 The changes of the self-locking mechanism 3 can be adapted to the cables 6 of different cable diameters.

The bottom of the sole mounting seat 302 is fixedly provided with a connecting slider, a sliding rail 305 matched with the connecting slider and connected with the sole of the foot 301, and an adjusting portion for adjusting the pressure of the sole of the foot 301 on the cable 6;

The adjusting part includes a first link 308, a second link 309, a pull ring, and a spring 306 connecting the sole of the foot 301 and the sole of the foot 302. The first link 308, the second link 309 and the pull ring are all hinged to the same The hinge shaft, the first link 308 is hingedly connected to the sole of the foot 302, and the second link 309 is hinged to the sole of the foot 301; in the initial state, when the body 5 is not loaded, the spring 306 pulls the sole of the foot 301 away from the cable 6, When the lifting ring 307 is hoisted with the load body 5, under the action of the gravity of the load body 5, the first link 308, the second link 309 and the hinge shaft of the pull ring are pulled down, so that the sliding rail 305 is relatively connected to the sliding block Move to the cable 6 until the sole of the foot 301 holds the cable 6, the friction force generated when the self-locking mechanism 3 holds the cable 6 is a force proportional to the pulling force, independent of the pulling force itself, and its load limit depends on the mechanical structure Strength of.

The rope climbing robot provided in this application document is a light weight and low power consumption rope climbing robot. The cable climbing robot can adapt to different diameters of cables 6, and one robot can detect cables 6 of various specifications. The existing cable 6 robot solution requires robots of various specifications to be realized, which helps to reduce the unit cost of robot use. In addition, the self-locking mechanism 3 of the cable climbing robot is an underactuated passive gripping device, which is different from the cumbersome motor 104 drive (combination of a high-power motor 104 and a high reduction ratio device) or hydraulic drive mode of the existing cable 6 robot. , effectively reducing the quality of the self-locking mechanism 3 and the cost of the self-locking mechanism 3 . The cable climbing robot has strong load capacity and fast climbing speed, and can carry detection equipment to detect the surface and interior of bridge cables 6, and the detected data is acquired by the operation background and analyzed and evaluated. The cable-climbing robot helps to solve the drawbacks of large manual workload, low efficiency, and potential safety hazards, assists the long-term detection, disease prevention and disposal of bridge cables 6, and greatly reduces bridge maintenance costs.

The first link 308, the second link 309, the third link 2061, the fourth link 2062, the fifth link 2063 and the sixth link 2064 mentioned in this application document, the first guide rail slider assembly 303 "First", "Second", "Third", "Fourth", "Fifth", and "Sixth" in the second rail slider assembly 304 are only for distinguishing the difference in position, not in order. order of points.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. Any combination of all the embodiments provided by the present invention falls within the protection scope of the present invention, and is not repeated here.

The cable climbing robot provided by the present invention has been introduced in detail above. The principles and implementations of the present invention are described herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (9)

1. A cable climbing robot, comprising: at least two groups of running mechanisms (1) moving along the axial direction of the cable (6) and adjusting mechanisms (2) connected with the running mechanisms (1);

the adjusting mechanism (2) is used for adjusting the distance between the adjacent travelling mechanisms (1) so as to enable the cable climbing robot to be suitable for cables (6) with different cable diameters; the travelling mechanisms (1) are uniformly distributed along the circumferential direction of the cable (6);

the self-locking mechanism (3) is connected to at least one of the walking mechanism (1) and the adjusting mechanism (2);

the self-locking mechanism (3) is provided with a hanging ring (307) used for connecting the load body (5) and a sole (301) clasping the cable (6) under the gravity traction of the load body (5);

the load body (5) is provided with a holding device for holding the cable (6), and the self-locking mechanism (3) is connected with the load body (5) through a retractable winding device.

2. Cable climbing robot according to claim 1, characterized in that the travelling mechanism (1) comprises a wheel assembly for contact with the cable (6) and a power transmission assembly for bringing the wheel assembly into rotation;

the wheel assembly comprises two wheels (101) arranged coaxially and at an interval.

3. Cable climbing robot according to claim 2, characterized in that the surface of the wheel (101) intended to come into contact with the cable (6) is provided with a soft rubber.

4. The cable climbing robot according to claim 2, characterized in that the single travelling mechanism (1) comprises two sets of wheel assemblies arranged at intervals along the travel direction of the cable climbing robot, and the two sets of wheel assemblies are in transmission connection through a synchronous wheel (107) and a synchronous belt (108) to form a four-wheel drive system.

5. The cable climbing robot as claimed in claim 2, wherein the traveling mechanism (1) is provided with a frame (110), two shock absorbing devices (102) respectively arranged at the front end and the rear end of the frame (110), and a connecting frame (105), one end of the connecting frame (105) is hinged to the shock absorbing device (102) arranged at the front end of the frame (110), and the other end of the connecting frame (105) is fixedly connected to the shock absorbing device (102) arranged at the rear end of the frame (110).

6. Cable climbing robot according to any of claims 1-5, characterized in that the adjusting mechanism (2) comprises a screw (201), a first connecting block (202), a second connecting block (203) arranged at a distance from the first connecting block (202), and two sets of three-bar linkage structures (206);

the first connecting block (202) is rotatably sleeved on the screw rod (201) and is fixed relative to the axial position of the screw rod (201); the second connecting block (203) is in threaded connection with the screw rod (201);

one end of each of the two groups of three-link structures (206) is hinged to the first connecting block (202), and the other end of each of the two groups of three-link structures is hinged to the second connecting block (203);

the two groups of three-connecting-rod structures (206) are respectively arranged on two sides of the screw rod (201) to be respectively connected with the adjacent travelling mechanisms (1), and the connecting rods positioned in the middle of the two groups of three-connecting-rod structures (206) are arranged in parallel with the screw rod (201).

7. Cable climbing robot according to claim 6, characterized in that the adjusting mechanism (2) is provided with a locking device (204) for limiting the axial rotation of the lead screw (201).

8. The cable climbing robot according to claim 1, wherein the self-locking mechanism (3) comprises a sole mount (302), a first guide rail slider assembly (303) and a second guide rail slider assembly (304) arranged in a direction perpendicular to the first guide rail slider;

the slide block of the first guide rail slide block component (303) is used for being connected with the adjusting mechanism (2), and the slide block of the second guide rail slide block component (304) is used for being connected with the walking mechanism (1).

9. The cable climbing robot as claimed in claim 8, wherein a connecting slider, a sliding rail (305) engaged with the connecting slider and connected with the sole (301), and an adjusting part for adjusting the pressure of the sole (301) on the cable (6) are fixedly arranged at the bottom of the sole mounting seat (302);

the adjusting part comprises a first connecting rod (308), a second connecting rod (309), a pull ring and a spring (306) for connecting the sole (301) and the sole mounting seat (302), the first connecting rod (308), the second connecting rod (309) and the pull ring are all hinged on the same hinge shaft, the first connecting rod (308) is hinged to the sole mounting seat (302), and the second connecting rod (309) is hinged to the sole (301).

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