Magnetic type self-adaptive bridge inspection robot

Abstract

The invention discloses a magnetic attraction type self-adaptive bridge inspection robot, and relates to the technical field of bridge engineering inspection, the magnetic attraction type self-adaptive bridge inspection robot comprises a frame body and a baffle plate, a detection assembly used for detecting a bridge to be detected is fixed on the top surface of the frame body, and at least two magnetic attraction wheel sets are arranged on the bottom surface of the frame body; a rotating piece used for adjusting the rotating direction of each magnetic attraction wheel set is arranged between the frame body and the corresponding magnetic attraction wheel set, the baffles are symmetrically arranged on the two side edges of the bottom face of the frame body, one ends of the baffles are fixedly connected with the frame body, sliding plates are arranged at the other ends of the baffles, and protruding blocks are arranged on the faces, away from the baffles, of the sliding plates in the length direction of the sliding plates. The two opposite ends of the protruding block are slidably connected with movable sliding blocks, the bottom face of each movable sliding block is fixedly connected with a guide wheel, and the two movable sliding blocks located at the two opposite ends of the protruding block are connected through a first spring. The magnetic type self-adaptive bridge inspection robot provided by the invention can improve the safety of bridge inspection, adapts to a complex environment, and automatically adjusts steering.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of bridge engineering inspection, in particular to a magnetic self-adaptive bridge inspection robot. BACKGROUND

[0002] With the continuous expansion of the scale of urban bridge construction, the structure of bridges is increasingly complex. When facing the arch rib which is mostly arc-shaped or variable cross-section curved surface structure (such as parabolic or catenary modeling), the traditional planar detection equipment (such as linear track robot, rigid detection frame) is difficult to fit the curved surface, resulting in detection blind area (such as arch top, arch foot transition area). Traditional manual detection requires detection personnel to climb high-altitude operation, which has serious safety hazards, and is affected by the subjective judgment of the detection personnel, so it is difficult to guarantee the accuracy and comprehensiveness of the detection. The existing bridge inspection robot cannot adapt to the complex curved surface and narrow environment due to its large structural rigidity and single adsorption mode, therefore, a more safe and flexible bridge inspection robot is needed to detect the bridge. SUMMARY

[0003] The application provides a magnetic self-adaptive bridge inspection robot, which can solve the technical problem that the existing bridge detection technology cannot adapt to complex curved surface structure and narrow environment in the prior art.

[0004] The application provides a magnetic self-adaptive bridge inspection robot, which can solve the technical problem that the existing bridge detection technology cannot adapt to complex curved surface structure and narrow environment in the prior art.

[0005] In combination with the above embodiment, in an implementation mode, each magnetic wheel group comprises two magnetic wheels connected by a pull rod, the two magnetic wheels are symmetrically distributed on the opposite sides of the rotating member, the magnetic wheels are connected with the side surface of the rotating member through a transmission assembly, the top surface of the rotating member is rotationally connected with the bottom surface of the frame, the opposite side surfaces of the rotating member are connected with the magnetic wheels through a transmission assembly, and the other side surface of the rotating member is connected with a motor for driving the magnetic wheel group corresponding to the rotating member.

[0006] In combination with the above embodiment, in an embodiment, the transmission assembly comprises a transmission shaft penetrating through opposite sides of the rotating member, a first gear sleeved on the transmission shaft exposed at the outer wall of the rotating member, and a second gear sleeved on the outer wall of the pull rod and engaged with the first gear.

[0007] In combination with the above embodiment, in an embodiment, the bottom surface of the rotating member extends in the direction of the motor and is provided with a motor support plate.

[0008] In combination with the above embodiment, in an embodiment, the motor support plate comprises a fixed end and a rotating end, the fixed end is fixedly connected to the bottom surface of the rotating member, the rotating end is triangular, a rotating hole is formed at the top end of the rotating end, a rotating shaft is arranged in the rotating hole and rotatably connected to the top end of the rotating end of the adjacent motor support plate, and a second spring is arranged at each of the two side edges of the rotating end and connected to the two side edges of the rotating end of the adjacent motor support plate.

[0009] In combination with the above embodiment, in an embodiment, an adjusting bolt is arranged between the sliding plate and the baffle plate for adjusting the height of the sliding plate, one end of the adjusting bolt is fixedly connected to the side of the sliding plate facing the baffle plate, and the other end of the adjusting bolt penetrates the baffle plate.

[0010] In combination with the above embodiment, in an embodiment, a locking bolt is arranged at the side edge of the baffle plate for sliding or locking the adjusting bolt relative to the baffle plate.

[0011] In combination with the above embodiment, in an embodiment, the top surface of the frame body is fixedly provided with a mounting platform for fixing the detection assembly, mounting columns are arranged at the four corners of the mounting platform and sequentially penetrate the mounting platform and the frame body, and a loading platform is arranged between adjacent mounting columns.

[0012] In combination with the above embodiment, in an embodiment, the mounting platform is provided with a fixing hole.

[0013] In combination with the above embodiment, in an embodiment, the opposite ends of the protruding block are further slidably connected with fixed sliding blocks, and the fixed sliding blocks are located on the side of the moving sliding block away from the first spring.

[0014] The technical scheme provided by the embodiments has the beneficial effects that: The bridge inspection robot provided by the embodiment of the application can be closely adsorbed on the bridge surface with strong magnetic conductivity in the inspection process, can adapt to complex and changeable detection environments, and is provided with a frame body for fixing a detection assembly, so that the bridge detection process is safer. Further, the first spring between the moving blocks is arranged, in the case that the bridge inspection robot encounters a joint, installation error or other uneven conditions, the moving blocks slide on the protrusions for horizontal adjustment, and after deviation or impact, the restoring force of the first spring can reset the moving blocks to the initial position, so that the bridge inspection robot provided by the embodiment of the application is more flexible and better adapts to complex curved surfaces and narrow environments of the bridge, and fills the blind area of the traditional detection method. Meanwhile, the rotating member for adjusting the steering of the magnetic wheel set is arranged between the frame body and each magnetic wheel set, so that the bridge inspection robot can steer according to the preset detection path, thereby improving the detection quality. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0016] Figure 1 A structural schematic view of the magnetic type self-adaptive bridge inspection robot provided by an embodiment of the application is shown in the figure. Figure 2 Another structural schematic view of the magnetic type self-adaptive bridge inspection robot provided by an embodiment of the application is shown in the figure. Figure 3 A front view of the magnetic type self-adaptive bridge inspection robot provided by an embodiment of the application is shown in the figure. Figure 4 A structural schematic view of the rotating member provided by an embodiment of the application is shown in the figure. Figure 5 A front view of the magnetic type self-adaptive bridge inspection robot provided by an embodiment of the application is shown in the figure.

[0017] In the figure: 1, frame; 2, magnetic attraction wheel; 3, baffle; 4, sliding plate; 5, protruding block; 6, moving slider; 7, guide wheel; 8, first spring; 9, pull rod; 10, rotating piece; 11, transmission shaft; 12, first gear; 13, second gear; 14, motor support plate; 15, rotating shaft; 16, second spring; 17, adjusting bolt; 18, locking bolt; 19, mounting platform; 20, mounting column; 21, carrying platform; 22, fixing hole; 23, fixed sliding block; 24, circular table; 25, support frame; 26, motor. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. In the description of the present application, it should be noted that the terms “upper”, “lower”, and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and thus cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus cannot be understood as a limitation on the present application. Unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, and “connection” should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, and can be internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0019] The present application provides a magnetic attraction type adaptive bridge inspection robot, which can solve the technical problem that the existing bridge detection technology is difficult to adapt to complex curved surface structures and narrow environments in the prior art.

[0020] Figure 1 A structural schematic diagram of the magnetic attraction type adaptive bridge inspection robot provided by an embodiment of the present application is provided. Referring to Figure 1The embodiment of the application provides a magnetic type self-adaptive bridge inspection robot, which comprises a frame body 1, a detection assembly for detecting a bridge to be detected is fixed to the top surface of the frame body 1, at least two groups of magnetic type wheel groups are arranged at the bottom surface of the frame body 1, and a rotating piece 10 for adjusting the steering of the magnetic type wheel group is arranged between the frame body 1 and each magnetic type wheel group; a baffle 3 symmetrically arranged at the two side edges of the bottom surface of the frame body 1, one end of the baffle 3 is fixedly connected with the frame body 1, the other end is provided with a sliding plate 4, a protruding block 5 is arranged on the surface of the sliding plate 4 away from the baffle 3 along the length direction of the sliding plate 4, and the opposite ends of the protruding block 5 are slidably connected with moving sliding blocks 6, the bottom surface of each moving sliding block 6 is fixedly connected with a guide wheel 7, and the two moving sliding blocks 6 located at the opposite ends of the protruding block 5 are connected through a first spring 8.

[0021] Since the current bridge arch rib is mostly a steel structure or a reinforced concrete structure, the steel material itself has strong magnetic conductivity, and the steel mesh in the reinforced concrete can also form the magnetic adsorption basis of the magnetic type wheel group, so that the magnetic type wheel group is used as the moving mode of the bridge inspection robot, and the bridge inspection robot can be firmly attached to the surface of the bridge.

[0022] In the embodiment of the application, each magnetic type wheel group comprises two magnetic type wheels 2 connected through a pull rod 9, the two magnetic type wheels 2 are symmetrically distributed at the opposite sides of the rotating piece 10, the magnetic type wheel 2 is connected with the side surface of the rotating piece 10 through a transmission assembly, the top surface of the rotating piece 10 is rotationally connected with the bottom surface of the frame body 1, the opposite side surfaces of the rotating piece 10 are connected with the magnetic type wheels 2 through the transmission assembly, and the other side surface of the rotating piece 10 is connected with a motor for driving the magnetic type wheel group corresponding to the rotating piece 10.

[0023] The transmission assembly comprises a transmission shaft 11 penetrating through the opposite side surfaces of the rotating piece 10, a first gear 12 is sleeved at the outer wall of the rotating piece 10 exposed from the transmission shaft 11, and a second gear 13 engaged with the first gear 12 is sleeved at the outer wall of the pull rod 9.

[0024] Figure 4 The structural schematic diagram of the rotating piece is provided for the embodiment of the application. Referring to Figure 4Specifically, the rotating piece 10 is a block structure with six faces and an internal hollow, the top face of the rotating piece 10 is rotationally connected with the bottom face of the frame body 1, the transmission assembly further comprises a bevel gear inside the rotating piece 10 for converting the vertical output of the motor into horizontal driving, the bevel gear further guides the torque into the transmission shaft 11, the first gear 12 rotates synchronously with the transmission shaft 11, the second gear 13 is engaged with the first gear 12, and the second gear 13 converts the rotating motion of the transmission shaft 11 into the driving torque of the magnetic wheel 2. The end of the motor connected with the rotating piece 10 is provided with a spline sleeve, so that the installation and disassembly between the motor and the rotating piece 10 can be quickly realized. Meanwhile, the surfaces of the opposite two sides of the rotating piece 10 penetrated by the transmission shaft 11 are further provided with protruding circular tables 24, the circular tables 24 are located between the first gear 12 and the rotating piece 10, and the outer diameter of the circular table 24 is slightly larger than the hub of the first gear 12, so that the first gear 12 is prevented from moving towards the rotating piece 10, and the safety of the transmission process is improved.

[0025] Figure 3 A front view of a magnetic self-adaptive bridge inspection robot provided by an embodiment of the application is shown in FIG. 1. Figure 3 In the embodiment of the application, the first spring 8 can be a compression spring with adjustable pre-tightening force, and a plurality of first springs 8 can be arranged between the moving blocks 6. The axial direction of the guide wheels 7 is perpendicular to the advancing direction of the bridge inspection robot, and the guide wheels 7 are fixedly connected with the moving blocks 6 by bolts. When the bridge inspection robot approaches the edge of the bridge, the guide wheels 7 first contact the edge structure, and the contact force generated drives the moving block 6 on the side to slide along the protrusion 5, compressing the spring on the side. At the same time, the spring on the other side is stretched, pushing the moving block 6 and the guide wheel 7 on the other side to also approach the edge. Thus, in the case of deviation of the bridge inspection robot, the two guide wheels 7 can be stably attached to the two sides of the edge of the bridge structure under the action of the spring force. Further, the first spring 8 can also be self-adaptive and reset, and after the deviation ends, the first spring 8 drives the two moving blocks 6 to slide reversely along the protrusion 5, driving the guide wheels 7 to return to the initial spacing. If the width of the edge of the bridge changes during the inspection of the bridge inspection robot, the spacing between the moving blocks 6 can also be automatically adjusted under the stretching and contracting action of the first spring 8, so that the guide wheels 7 can always be attached to the edge of the bridge.

[0026] The outer wall of the pull rod 9 is further provided with a support frame 25, the support frame 25 is located between the second gear 13 and the magnetic wheel 2, and the support frame 25 extends towards the frame body 1, so that the structure between the first gear 12 and the second gear 13 is more stable, and the transmission stability is improved.

[0027] In the embodiment of the application, the bottom face of the rotating piece 10 extends in the direction of the motor and is provided with a motor support plate 14, and the adjacent two motor support plates 14 are rotationally connected.

[0028] Figure 2Another structural schematic diagram of the magnetic type adaptive bridge inspection robot is provided for an embodiment of the present application. Referring to Figure 2 The bottom of the bridge inspection robot provided by the embodiment of the present application is arranged with two groups of magnetic suction wheel sets, and therefore, according to the above embodiment, the bridge inspection robot provided by the embodiment of the present application comprises two motors for driving the two groups of magnetic suction wheel sets respectively, the two motors correspond to two rotating members 10 and two motor support plates 14 respectively, and the two motor support plates 14 are rotationally connected.

[0029] Specifically, the motor support plate 14 comprises a fixed end and a rotating end, the fixed end is fixedly connected with the bottom surface of the rotating member 10, the rotating end is triangular, a rotating hole is formed at the top end of the rotating end, a rotating shaft 15 is arranged in the rotating hole and is used for rotationally connecting with the top end of the rotating end of the adjacent motor support plate 14, and a second spring 16 is arranged at each of the two side edges of the rotating end and is used for connecting with the two side edges of the rotating end of the adjacent motor support plate 14 respectively.

[0030] The fixed end is fixedly connected with the bottom surface of the rotating member 10 by welding or riveting, the rotating end is triangular, one second spring 16 is arranged at each of the two waists of the triangle and is connected with the same waist of the adjacent triangular plate, a rotating hole is formed at the top corner of the triangle, and a rotating shaft 15 is arranged in the rotating hole to realize the hinging of the two adjacent motor support plates 14. During the inspection, when the deviation or turning occurs, the rotating member 10 rotates, the rotating end of the motor support plate 14 rotates mutually, the second spring 16 is stretched or compressed, and when the deviation disappears or the turning ends, the second spring 16 resets, the motor returns to the parallel state with the frame body 1, and the bridge inspection robot continues to move straight forward.

[0031] In the embodiment of the present application, the frame body 1 comprises a bottom plate, a top plate and a side plate, the bottom plate, the top plate and the side plate jointly enclose a placement cavity, and components such as a controller can be placed in the placement cavity, wherein the controller can be configured to determine whether the advancing route of the bridge inspection robot needs to be adjusted in the rotation amplitude by an image recognition built-in algorithm.

[0032] Figure 5 The magnetic type adaptive bridge inspection robot advancing route automatic adjustment flowchart is provided for an embodiment of the present application. Referring to Figure 5 The automatic adjustment flowchart comprises the following steps: Step S1, a front camera is arranged at the advancing end of the magnetic type adaptive bridge inspection robot, the front camera captures the bridge structure features in real time and feeds back the bridge structure features to the controller.

[0033] Step S2, the controller determines whether there is a straight track blocking phenomenon or a baffle 3 deviation phenomenon in the advancing route of the robot according to an image recognition built-in algorithm, if yes, the process goes to step S3, and if no, the process goes to step S4.

[0034] Step S3, the controller confirms the offset angle that the second spring 16 needs to adjust according to the direction of the obstruction or deviation, drives the second spring 16 to adjust the offset angle accordingly, records the adjustment time as the first time, and the second spring 16 reverses and corrects according to the first time.

[0035] Step S4, the magnetic self-adaptive bridge inspection robot continues to move forward according to the preset route.

[0036] Therefore, the controller can ensure that the robot always moves forward along the preset route and improve the efficiency and accuracy of the inspection when it finds that the robot's moving route has a straight track obstruction or a deviation of the baffle.

[0037] In the embodiment of the present application, an adjusting bolt 17 for adjusting the height of the sliding plate 4 is arranged between the sliding plate 4 and the baffle 3, one end of the adjusting bolt 17 is fixedly connected to the side of the sliding plate 4 facing the baffle 3, and the other end of the adjusting bolt 17 is arranged in the baffle 3.

[0038] Specifically, the side of the baffle 3 is provided with a locking bolt 18 for sliding or locking the adjusting bolt 17 relative to the baffle 3. When the height of the sliding plate 4 needs to be adjusted, the locking bolt 18 is loosened, so that the adjusting bolt 17 can freely slide in the hole of the baffle 3, thereby driving the sliding plate 4 to rise or fall. When the sliding plate 4 is adjusted to the required height, the locking bolt 18 is tightened, and the locking bolt 18 and the adjusting bolt 17 generate a tight friction force, so that the adjusting bolt 17 cannot slide relative to the baffle 3, thereby fixing the sliding plate 4 at the required height position.

[0039] In the embodiment of the present application, the top surface of the frame body 1 is fixed with a mounting platform 19 for fixing the detection assembly, the four corners of the mounting platform 19 are provided with mounting columns 20 arranged in the mounting platform 19 and the frame body 1 in sequence, and a mounting platform 21 is arranged between adjacent two mounting columns 20.

[0040] In the embodiment of the present application, the mounting platform 19 is provided with fixing holes 22. The detection assembly or other equipment is fixed on the mounting platform 19 by passing bolts or other fixing members matched with the fixing holes 22 through the fixing holes 22. The mounting columns 20 can further strengthen the connection strength between the mounting platform 19 and the frame body 1. In actual application, the size of the mounting platform 19 can be selected and installed according to the actual width of the bridge arch rib. The detection assembly can include an infrared thermal imager for surface crack or weld detection, a 3D laser scanner for structural deformation monitoring and cross-section size measurement, an ultrasonic flaw detector for detecting internal defects of a steel structure, and the like.

[0041] In the embodiment of the present application, opposite ends of the convex block 5 are also slidably connected with fixing blocks 23, and the fixing blocks 23 are located on the side of the moving block 6 away from the first spring 8.

[0042] Specifically, the top of the fixing block 23 is also provided with a groove matched with the convex block 5. Through the sliding connection of the fixing block 23 and the convex block 5, the position of the fixing block 23 on the convex block 5 can be adjusted. The bottom surface of the fixing block 23 abuts against the guide wheel 7 but is not fixedly connected. Thus, by placing the fixing block 23 on the side of the moving block 6 away from the first spring 8, the acting force of the first spring 8 can be balanced, and the overall stability is improved.

[0043] In the embodiment of the present application, the bridge inspection robot can be closely adsorbed on the bridge surface with strong magnetic permeability in the inspection process by using the magnetic wheels 2, which can adapt to complex detection environment. The bridge inspection robot is provided with the frame body 1 for fixing the detection assembly, and the detection personnel do not need to climb high-altitude operation, so that the bridge detection process is safer. Further, in the embodiment of the present application, the first spring 8 is arranged between the moving blocks 6. When the bridge inspection robot encounters joints, installation errors or other uneven conditions, the moving blocks 6 slide on the convex block 5 to adjust in the horizontal direction. After deviation or impact, the restoring force of the first spring 8 can reset the moving blocks 6 to the initial position, so as to reset the guide wheels 7, so that the bridge inspection robot provided in the embodiment of the present application is more flexible and better adapts to the complex curved surface and narrow environment of the bridge, and fills the blind area of the traditional detection means. Meanwhile, the rotating member 10 for adjusting the steering of the magnetic wheel group is arranged between the frame body 1 and each magnetic wheel group, so that the bridge inspection robot can steer according to the preset detection path, thereby improving the detection quality.

[0044] In the description of the present application, it should be noted that the terms "upper", "lower", and the like are used for indicating the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. Unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] It should be noted that in the present application, relational terms such as "first" and "second", and the like are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed, or other elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or apparatus including the element.

[0046] The above is only a specific embodiment of the present application, which enables those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A magnetic adaptive bridge inspection robot, characterized in that: The magnetic adaptive bridge inspection robot comprises: A frame (1), wherein a detection assembly for detecting a bridge to be detected is fixed on the top surface of the frame (1), at least two groups of magnetic wheel groups are arranged on the bottom surface of the frame (1), and a rotating member (10) for adjusting the direction of the magnetic wheel group is provided between the frame (1) and each magnetic wheel group; Baffles (3) are symmetrically arranged on both sides of the bottom surface of the frame (1), one end of the baffle (3) is fixedly connected to the frame (1), and a sliding plate (4) is provided at the other end, a side of the sliding plate (4) away from the baffle (3) is provided with a protrusion (5) along the length direction of the sliding plate (4), and the opposite ends of the protrusion (5) are slidably connected to movable sliders (6), the bottom surface of each movable slider (6) is fixedly connected to a guide wheel (7), and the two movable sliders (6) located at the opposite ends of the protrusion (5) are connected by a first spring (8).

2. The magnetic adaptive bridge inspection robot according to claim 1, characterized in that: Each magnetic wheel group includes two magnetic wheels (2) connected by a pull rod (9), the two magnetic wheels (2) are symmetrically distributed on two opposite side surfaces of the rotating member (10), and the magnetic wheels (2) are connected to the side surfaces of the rotating member (10) through a transmission component, the top surface of the rotating member (10) is rotatably connected to the bottom surface of the frame (1), the two opposite side surfaces of the rotating member (10) are connected to the magnetic wheels (2) through a transmission component, and the other side surface of the rotating member (10) is connected to a motor for driving the magnetic wheel group corresponding to the rotating member (10).

3. The magnetic adaptive bridge inspection robot according to claim 2, characterized in that: The transmission assembly comprises: A transmission shaft (11) is provided, wherein the transmission shaft (11) passes through two opposite side surfaces of the rotating member (10); a first gear (12) is sleeved on the outer wall of the transmission shaft (11) exposed from the rotating member (10); and a second gear (13) meshing with the first gear (12) is sleeved on the outer wall of the pull rod (9).

4. The magnetic adaptive bridge inspection robot according to claim 2, characterized in that: A motor support plate (14) extends from the bottom surface of the rotating member (10) in the direction of the motor, and two adjacent motor support plates (14) are rotatably connected.

5. The magnetic adaptive bridge inspection robot according to claim 2, characterized in that: The motor support plate (14) includes a fixed end and a rotating end, the fixed end is fixedly connected to the bottom surface of the rotating member (10), the rotating end is triangular in shape, a rotating hole is provided at the top end of the rotating end, a rotating shaft (15) for rotatably connecting to the top end of the rotating end of the adjacent motor support plate (14) is provided in the rotating hole, and second springs (16) are provided on both sides of the rotating end, respectively connected to the two sides of the rotating end of the adjacent motor support plate (14).

6. The magnetic adaptive bridge inspection robot according to claim 1, characterized in that: An adjusting bolt (17) for adjusting the height of the sliding plate (4) is provided between the sliding plate (4) and the baffle (3); one end of the adjusting bolt (17) is fixedly connected to a side of the sliding plate (4) facing the baffle (3); and the other end of the adjusting bolt (17) is passed through the baffle (3).

7. The magnetic adaptive bridge inspection robot according to claim 6, characterized in that: A locking bolt (18) is provided on the side of the baffle (3) for enabling the adjusting bolt (17) to slide or lock relative to the baffle (3).

8. The magnetic adaptive bridge inspection robot according to claim 1, characterized in that: A mounting platform (19) for fixing the detection component is fixed on the top surface of the frame (1), and mounting columns (20) are provided at the four corners of the mounting platform (19) and are sequentially passed through the mounting platform (19) and the frame (1), and a carrying platform (21) is provided between two adjacent mounting columns (20).

9. The magnetic adaptive bridge inspection robot according to claim 8, characterized in that: The mounting platform (19) is provided with a fixing hole (22).

10. The magnetic adaptive bridge inspection robot according to claim 1, characterized in that: The two opposite ends of the protrusion (5) are also slidably connected to fixed sliders (23), and the fixed slider (23) is located on a side of the movable slider (6) away from the first spring (8).

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