Multi-purpose Dual Wire Rope Auto Balancing Climber

Emergence of robotic climbers is a versatile solution for transporting goods and service robots in high-rise buildings, surpassing traditional methods such as gondolas and scaffolding. A novel dual wire rope auto-balancing climber has been developed, featuring four significant innovations: a unique wire winding topology, an auto-balancing algorithm, precise vertical position control, and a high payload capacity. The innovative wire winding topology simplifies the initial rope winding process, making it hassle-free and reducing preparation time. To ensure balance and safety, the climber has an auto-balancing feature that minimizes tilt angles and enhances climbing stability. The climber robot achieves impressive precision with a vertical resolution down to millimeters. With a maximum payload capacity of approximately 175 kg, the robotic climber can transport various equipment for diverse applications. Experimental results demonstrate the climber’s ability to carry a pipe service robot and achieve precise tool positioning at different heights. Compared to traditional methods, the proposed system offers more than 3 hrs of operation time with on-board battery configuration, easier field deployment, reduced transport effort, increased payload capacity, and a promising longer pipeline service life.