A split-type main cable detection device

Abstract

The embodiment of the present application discloses a split-type main cable detection device, which can realize rapid inspection of the main cable, and can also realize all-round, full-coverage and high-efficiency detection of the main cable, improve safety and greatly reduce the detection difficulty. The above-mentioned split-type main cable detection device is used to detect the main cable and includes: a traction robot, a load-bearing robot and a traction component; the traction robot is anchored at the top ends of two support rods, the first end of the traction component is connected to the traction robot, and the second end of the traction component is connected to the load-bearing robot; the traction robot moves along the handrail rope assembly under the action of a first driving force, and when the traction robot is anchored at the top ends of the two support rods after moving along the handrail rope assembly, the load-bearing robot is driven to move along the main cable and the handrail rope assembly through the traction component.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of detection equipment, and particularly to a split-type main cable detection device. Background Art

[0002] At present, long-span bridges generally adopt a suspension bridge structure with simple structure, low cost and easy construction. The main cable of the suspension bridge bears the weight of the entire bridge and is the core load-bearing component of the entire suspension bridge. In a suspension bridge, the main cable of the suspension bridge bears the weight of the bridge for a long time, and due to problems such as wind, rain, sunlight, mechanical damage, and aging of the PE protective layer, rainwater seeps into the main cable, the PE protective layer on the surface of the main cable corrodes, and the steel wires inside the main cable rust and break, which in turn affects the service life and effective load of the main cable.

[0003] At present, in the inspection of suspension bridges and main cables, common inspection tools include telescopes, man baskets, and robots with high-definition cameras. Although telescopes are relatively effective auxiliary inspection tools, they still cannot fully meet the requirements of regular inspection tasks for cables; the method of using a man basket to inspect the main cable not only has problems such as heavy workload and traffic interference, but also has major safety hazards because the inspectors are working at high altitudes. In addition, using robots with high-definition cameras also has problems such as inconvenient robot carrying and cumbersome installation, resulting in the inability to meet the engineering application requirements for rapid detection of suspension bridges and main cables.

[0004] Therefore, how to solve the prominent engineering problems such as high detection difficulty, low efficiency, and poor safety caused by factors such as diverse suspension bridge structures, large spans, large diameters of main cables, multiple cable clamp obstacles, and high-altitude strong winds during the detection of main cables has become an urgent problem to be solved at the present stage. Summary of the Invention

[0005] The embodiments of the present application provide a split-type main cable detection device, which can not only realize rapid inspection of the main cable, but also realize all-round, full-coverage and high-efficiency detection of the main cable, further improving safety and greatly reducing the detection difficulty.

[0006] In a first aspect, the embodiments of the present application provide a split-type main cable detection device, which is used to detect a main cable. The split-type main cable detection device may include: a traction robot, a load-bearing robot, and a traction component; the traction robot is anchored at the top ends of the two support rods, the first end of the traction component is connected to the traction robot, and the second end of the traction component is connected to the load-bearing robot;

[0007] The traction robot moves along the handrail rope assembly under the first driving force, and when the traction robot moves along the handrail rope assembly and is anchored at the tops of the two support rods, the load-bearing robot is driven to move along the main cable and the handrail rope assembly through the traction assembly. The handrail rope assembly is located above the main cable and parallel to the main cable.

[0008] Optionally, in combination with the first aspect above, in the first possible implementation manner, two handrail ropes arranged on the topmost layer and two railing ropes arranged on the bottommost layer, each of the handrail ropes is parallel to each of the railing ropes; each of the support rods is connected to the handrail rope and the railing rope arranged on the same side and perpendicular to the main cable;

[0009] The two support rods are used to anchor the traction robot to the two handrail ropes arranged on the topmost layer, so that the traction robot moves along the two topmost handrail ropes.

[0010] Optionally, in combination with the first possible implementation manner of the first aspect above, in the second possible implementation manner, the traction robot includes: a traction robot body and a driving component, and the driving component is installed on the traction robot body; the driving component includes four driving modules, and the distance between every two of the four driving modules that are axisymmetric based on the traction robot body is equal to the distance between the two handrail ropes arranged on the topmost layer;

[0011] Each of the driving modules is used to provide the first driving force to drive the traction robot body to move along the two handrail ropes arranged on the topmost layer.

[0012] Optionally, in combination with the second possible implementation manner of the first aspect above, in the third possible implementation manner, the traction robot further includes a hook assembly; the hook assembly is fixedly installed at the first end of the traction robot body, and the first end of the traction robot body is anchored at the tops of the two support rods;

[0013] The hook assembly is used to fix the first end of the traction assembly, so that when each driving module drives the traction robot body to move along the two handrail ropes arranged on the topmost layer and is anchored at the tops of the two support rods, the load-bearing robot is driven to move along the main cable and the two railing ropes arranged on the bottommost layer through the traction assembly.

[0014] Optionally, in combination with the third possible implementation manner of the first aspect above, in the fourth possible implementation manner, the load-bearing robot includes: a main support wheel assembly, a side support wheel assembly, a driving winch assembly, and a load-bearing robot body; the main support wheel assembly, the side support wheel assembly, and the driving winch assembly are installed on the load-bearing robot body; the concave surface of the main support wheel assembly is clamped to the convex surface of the main cable, and the concave surface of the side support wheel assembly is clamped to the two railing ropes arranged at the bottommost layer;

[0015] The driving winch assembly is connected to the second end of the traction assembly, and is used for, when each driving module drives the traction robot body to move along the two handrails arranged at the uppermost layer and is anchored at the top ends of the two support rods, contracting the traction assembly to traction the main support wheel assembly to move along the main cable and traction the side support wheel assembly to move along the two railing ropes arranged at the bottommost layer, so as to drive the load-bearing robot body to move.

[0016] Optionally, in combination with the fourth possible implementation manner of the first aspect above, in the fifth possible implementation manner, the driving winch assembly includes two sets of symmetric driving winch structures, and each set of driving winch structures includes a winch drum, a worm assembly, a reducer, and a winch motor; the winch drum is coaxially connected to the worm assembly through a first shaft, the worm assembly is coaxially connected to the reducer and the winch motor through a second shaft, and the first shaft is perpendicular to the second shaft; the winch drum is connected to the second end of the traction assembly;

[0017] The winch motor is used to provide a second driving power and transmit the second driving power to the worm assembly;

[0018] The worm assembly is used to transmit the second driving power to the winch drum;

[0019] The winch drum contracts the traction assembly based on the second driving power.

[0020] Optionally, in combination with the fourth to fifth possible implementation manners of the first aspect above, in the sixth possible implementation manner, the load-bearing robot further includes a first detection device;

[0021] The first detection device is suspended directly below the load-bearing robot body and is used to detect the main cable.

[0022] Optionally, in combination with the second to third possible implementation manners of the first aspect above, in the seventh possible implementation manner, the traction robot further includes a second detection device;

[0023] The second detection device is installed on the traction robot body and is used to detect the main cable.

[0024] Optionally, in combination with the fourth to sixth possible implementation manners of the first aspect above, in the eighth possible implementation manner, the main support wheel assembly includes two main support wheels.

[0025] Optionally, in combination with the fourth to sixth possible implementation manners of the first aspect above, in the ninth possible implementation manner, the side support wheel assembly includes four side support wheels, and the distance between every two of the four side support wheels that are axisymmetric based on the load-bearing robot body is equal to the distance between the two railing ropes arranged at the bottom layer.

[0026] Optionally, in combination with the first aspect and the first to ninth possible implementation manners of the first aspect above, in the tenth possible implementation manner, the traction assembly includes a traction rope.

[0027] Optionally, in combination with the second to third possible implementation manners of the first aspect above, in the eleventh possible implementation manner, each drive module includes a V-shaped wheel and a drive motor.

[0028] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages:

[0029] In the embodiments of the present application, the traction robot in the split-type main cable detection device moves along the handrail rope assembly after receiving the first driving force, and can perform a rapid inspection operation on the main cable. When the traction robot is anchored at the top of the support assembly after moving along the handrail rope assembly, the load-bearing robot is driven to move along the main cable and the handrail rope assembly through the traction assembly, so that the load-bearing robot can realize a full-range, full-coverage, and high-efficiency detection operation on the main cable while carrying a heavy detection device, and the safety is improved, and the detection difficulty is greatly reduced. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for description in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application.

[0031] Figure 1 It is a schematic diagram of an application scenario of the split-type main cable detection device provided by the embodiments of the present application;

[0032] Figure 2 It is a schematic structural diagram of a split-type main cable detection device provided in the embodiments of the present application;

[0033] Figure 3A structural schematic diagram of the towing robot provided in this embodiment;

[0034] Figure 4 Another structural schematic diagram of the towing robot provided in this embodiment;

[0035] Figure 5 A structural schematic diagram of the load-bearing robot provided in this embodiment;

[0036] Figure 6 Another structural schematic diagram of the load-bearing robot provided in this embodiment;

[0037] Figure 7 Another structural schematic diagram of the load-bearing robot provided in this embodiment. Detailed implementation manners

[0038] The embodiment of the present application provides a split main cable detection device, which can not only realize the rapid inspection of the main cable, but also realize the all-round, full-coverage and high-efficiency detection of the main cable, further improving the safety and greatly reducing the detection difficulty.

[0039] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that comprises a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0040] Next, in conjunction with the drawings, the embodiments of the present application will be described. Obviously, the described embodiments are only a part 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 skilled in the art without creative efforts fall within the protection scope of the present application.

[0041] First, the working environment of the split main cable detection device provided in the embodiment of the present application will be described. Please refer to Figure 1 , which is a schematic diagram of a scenario where the split main cable detection device provided in the embodiment of the present application realizes the detection of the main cable. Figure 1It can be known that the main cable 10 is the core load-bearing structure connecting two pylons in a suspension bridge. At regular intervals along the main cable 10, a cable clamp 20 is fixedly installed through high-strength bolts. The cable clamp 20 has lugs 30 facing downward, and the lugs 30 are used to install sling ropes. The bridge deck is lifted by the sling ropes, thus forming a suspension bridge. Since there is a cable clamp 20 with a sling rope installed at regular intervals along the main cable 10, it is very difficult for traditional cable climbing robots that take the cable as the climbing object to cross the obstacle with the cable clamp 20, and it is impossible to smoothly climb from one pylon to another along the direction of the main cable 10 of the suspension bridge. In view of the obstacle problems such as the cable clamp 20 existing in the main cable 10 of the suspension bridge, at present, the detection work of the main cable 10 in the suspension bridge mainly adopts the scheme of installing multiple layers of ropes on the main cable 10, thereby realizing the structure with the main cable 10 as the bottom and the handrail rope assemblies 40 on both sides of the main cable 10 along the length direction of the main cable 10. Among them, the topmost rope in the handrail rope assembly 40 is called the handrail rope 401, and the lowermost rope is called the railing rope 402. Moreover, the handrail rope 401 and the railing rope 402 on the same side can both be connected to the support rod 50, and the support rod 50 is perpendicular to the main cable 10 and fixedly connected to the cable clamp 20. Technicians can safely hold the main cable 10 on the handrail ropes 401 on both sides and walk on the main cable 10 to detect the main cable 10.

[0042] However, in view of factors such as the diverse structure, large span, large diameter of the main cable, multiple cable clamp obstacles, and high-altitude strong winds of the suspension bridge, it is very easy to cause a series of defects such as high detection difficulty, low efficiency, and poor safety when using manual detection or robots with high-definition cameras to detect the main cable 10. Therefore, the embodiment of the present application provides a split-type main cable detection device, and based on this split-type main cable detection device, rapid inspection and full-coverage detection of the main cable 10 are carried out. In other words, this split-type main cable detection device uses a traction robot and a load-bearing robot in cooperation, uses the traction robot to realize rapid inspection of the main cable 10, and uses the load-bearing robot carrying the detection device to realize full-coverage detection of the main cable 10.

[0043] The structure of the split-type main cable detection device provided by the embodiment of the present application will be described below.

[0044] Please refer to Figure 2 , which is a schematic structural diagram of a split-type main cable detection device provided in the embodiment of the present application.

[0045] As Figure 2 shown, the aforementioned split-type main cable detection device includes a traction robot 60, a load-bearing robot 70, and a traction assembly 80. Among them, the traction robot 60 is anchored at the top ends of two support rods 50, the first end of the traction assembly 80 is connected to the traction robot 60, and the second end of the traction assembly 80 is connected to the load-bearing robot 70;

[0046] The traction robot 60 moves along the handrail rope assembly 40 under the action of the first driving power. When the traction robot 60 is anchored at the top ends of the two support rods 50 after moving along the handrail rope assembly 40, the load-carrying robot 70 is driven to move along the main cable 10 and the handrail rope assembly 40 through the traction assembly 80. The handrail rope assembly 40 is located above the main cable 10 and parallel to the main cable 10.

[0047] In the embodiment, the traction robot 60 has the advantages of being light in design, fast in running speed, having a function of heavy-load split traction, and being able to carry light devices such as a second detection device. Therefore, the traction robot 60 can quickly inspect the main cable 10 alone. Thus, in order to enable the traction robot 60 to quickly inspect the main cable 10, the traction robot 60 can be anchored at the top ends of the two support rods 50. And based on the characteristics that there are fewer obstacles in the handrail rope assembly 40 that hinder the movement of the traction robot 60, the traction robot 60 can be placed on the handrail rope assembly 40. In this way, when the traction robot 60 is under the action of the first driving power, it can move along the handrail rope assembly 40 under the drive of the first driving power, so as to facilitate the quick inspection of the main cable 10.

[0048] In addition, the two support rods 50 are perpendicular to the main cable 10 and connected to the handrail rope 401 assembly. The bottom ends of the two support rods 50 are fixed to the cable clamp 20, and the cable clamp 20 clamps the main cable 10. In this way, a stable supporting effect can be provided for the traction robot 60 placed on the handrail rope assembly 40, so that the traction robot 60 can run stably on the handrail rope assembly 40. It should be noted that the handrail rope assembly 40 is located above the main cable 10 and parallel to the main cable 10, and the diameters of the handrail rope 401 and the railing rope 402 in the handrail rope assembly 40 are much smaller than the diameter of the main cable 10.

[0049] In addition, the weight of the load-bearing robot 70 is much heavier than that of the traction robot 60. It can carry heavy detection devices or the like to detect the main cable 10, or carry heavy maintenance devices to repair the main cable 10, etc. Therefore, the load-bearing robot 70 in this embodiment needs to be placed on the main cable 10, mainly moves along the main cable 10, and uses the handrail rope assembly 40 as a guide. One end of the traction assembly 80 is connected to the traction robot 60, and the other end of the traction assembly 80 is connected to the load-bearing robot 70. The purpose is that when the traction robot 60 moves along the handrail rope assembly 40 and is anchored at the top of the two support rods 50, it can drive the load-bearing robot 70 to move along the main cable 10 and the handrail rope assembly 40. It should be noted that the load-bearing robot 70 moves along the handrail rope assembly 40 so that the load-bearing robot 70 can move smoothly along the main cable 10, and prevent the load-bearing robot 70 from falling off the main cable 10 due to left and right shaking during operation.

[0050] Optionally, in some embodiments, the handrail rope assembly 40 includes two handrail ropes 401 arranged on the topmost layer and two railing ropes 402 arranged on the bottommost layer. Each handrail rope 401 is parallel to each railing rope 402; each support rod 50 is connected to the handrail rope 401 and the railing rope 402 arranged on the same side and is perpendicular to the main cable 10; the two support rods 50 are used to anchor the traction robot 60 to the two handrail ropes 401 arranged on the topmost layer, so that the traction robot 60 moves along the two topmost handrail ropes 401.

[0051] In the embodiment, the tops of the above two support rods 50 are both anchored to the traction robot 60, which can provide stable support for the traction robot 60. The handrail rope assembly 40 includes two handrail ropes 401 arranged on the topmost layer and two railing ropes 402 arranged on the bottommost layer. Each handrail rope 401 is parallel to each railing rope 402. In addition, the handrail rope 401 and the railing rope 402 on the same side are both connected to the support rod 50.

[0052] The above two support rods 50 are mainly used to anchor the traction robot 60 to the two handrail ropes 401 arranged on the topmost layer, so that the traction robot 60 can move along the two uppermost handrail ropes 401 when receiving driving power.

[0053] It should be noted that the above Figure 2 only shows the front view of the split main cable 10 detection device. From this front view, it can only be seen that the support assembly includes a support rod 50, and the handrail rope 401 assembly includes one handrail rope 401 on the topmost layer and one railing rope 402 on the bottommost layer, but Figure 1 it is only the front view of the split main cable 10 detection device. In practical applications, it should not be limited toFigure 2 The structure shown is for understanding the split main cable 10 detection device. In addition, from Figure 2 it can also be seen that other ropes may be included between the two uppermost handrails 401 and the two lowermost railing ropes 402, all of which are used to provide a stable connection for the support rods 50. In fact, the number of other ropes is not limited in the embodiments of the present application.

[0054] In the embodiments of the present application, the traction robot 60 in the split main cable detection device moves along the handrail rope 401 assembly after receiving the first driving force, and can perform a quick inspection operation on the main cable 10. And when the traction robot 60 moves along the handrail rope assembly 40 and is anchored at the top of the two support rods 50, the traction assembly 80 drives the load-carrying robot 70 to move along the main cable 10 and the handrail rope assembly 40, so that the load-carrying robot 70 can realize a full-range, full-coverage and high-efficiency detection operation on the main cable 10 while carrying a heavy detection device, and the safety is improved, and the detection difficulty is greatly reduced.

[0055] The above mainly describes the split main cable detection device in the embodiments of the present application. Next, the traction robot 60 and the load-carrying robot 70 in the split main cable detection device will be described respectively.

[0056] Please refer to Figure 3 , which is a schematic structural diagram of the traction robot provided in this embodiment.

[0057] Based on the above Figure 2 described embodiments, as Figure 3 shown, the above-mentioned traction robot 60 includes a traction robot body 601 and a driving component 602, and the driving component 602 is installed on the traction robot body 601; the driving component 602 includes four driving modules 6021, and the distance between every two of the four driving modules 6021 that are axially symmetric based on the traction robot body 601 is equal to the distance between the two handrail ropes 401 arranged on the uppermost layer;

[0058] Each driving module 6021 is used to provide the first driving force to drive the traction robot body 601 to move along the two handrail ropes 401 arranged on the uppermost layer.

[0059] In the embodiment, the driving assembly 602 includes four driving modules 6021, and the four driving modules 6021 are symmetrically arranged based on the towing robot body 601. The distance between every two driving modules 6021 that are axially symmetric based on the towing robot body 601 is equal to the distance between the two handrail ropes 401 arranged on the topmost layer. The purpose is to enable the V-shaped wheels in the driving module 6021 to be stuck on the two uppermost handrail ropes 401, preventing the towing robot body 601 from falling off the two uppermost handrail ropes 401.

[0060] In addition, the above four driving modules 6021 are all installed on the towing robot body 601 and can provide the first driving power, so that the towing robot body 601 moves along the two handrail ropes 401 on the topmost layer under the driving action of the first driving power.

[0061] Optionally, based on the embodiment described above Figure 2 and Figure 3 please refer to Figure 4 , which is another structural schematic diagram of the towing robot provided in the embodiment of the present application. As Figure 4 shown, the towing robot 60 further includes a hook assembly 603; the hook assembly 603 is fixedly installed at the first end of the towing robot body 601, and the first end of the towing robot body 601 is anchored to the tops of the two support rods 50.

[0062] The hook assembly 603 is used to fix the first end of the towing assembly 80, so that when each driving module 6021 drives the towing robot body 601 to move along the two handrail ropes 401 arranged on the topmost layer and is anchored at the tops of the two support rods 50, the load-carrying robot 70 is driven to move along the main cable 10 and the two railing ropes 402 arranged on the bottommost layer through the towing assembly 80.

[0063] From Figure 3It can also be seen that a hook assembly 603 is fixedly installed at the first end of the towing robot body 601, and the hook assembly 603 is used to fixedly install the first end of the towing assembly 80. In this way, after each drive module 6021 provides the first driving power to drive the towing robot body 601 to move along the two handrails 401 on the top layer, when the towing robot body 601 is anchored at the top ends of the two support rods 50, the load-carrying robot 70 contracts the towing assembly 80, thereby driving the load-carrying robot 70 to move along the main cable 10 and the two railing ropes 402 on the bottom layer. In other words, since the weight of the towing robot 60 is much smaller than the weight of the load-carrying robot 70, only when the towing robot body 601 is driven by the driving power to move along the two handrails 401 on the top layer and is fixed at the top ends of the two support rods 50, can the towing assembly 80 be contracted to drive the load-carrying robot 70 to move.

[0064] It should be noted that the first end of the towing robot body 601 is anchored at the top ends of the two support rods 50 described above, and the first end of the towing robot body 601 is opposite to the moving direction. In addition, the two railing ropes 402 on the bottom layer described above are actually the ropes arranged at the bottom end above the main cable 10.

[0065] Furthermore, it can be further understood that Figure 4 The hook assembly 603 shown can be composed of 2 hooks, and the towing assembly 80 can also be composed of 2 towing ropes, which is only a schematic description. In actual applications, the number of hooks forming the hook assembly 603 and the number of towing ropes forming the towing assembly 80 can also be other numbers, such as: 3, 4, 3, 4, etc., as long as the number of hooks is equal to the number of towing ropes, and specific limitations will not be described in the embodiments of the present application.

[0066] Optionally, in some other embodiments, the towing robot 60 may further include a second detection device, which is installed on the towing robot body 601 and is mainly used to detect the main cable 10. It can be understood that the second detection device may include, but is not limited to, devices with camera functions, etc., and specific limitations will not be described in the embodiments of the present application.

[0067] The above mainly describes the towing robot 60 in the embodiments of the present application. Next, the load-carrying robot 70 in the embodiments of the present application will be described.

[0068] Please refer to Figure 5 , which is a schematic structural diagram of the load-carrying robot provided in the embodiments of the present application.

[0069] In the above Figure 2 , Figure 3 and Figure 4Based on the described embodiments, as Figure 5 shown, the load-bearing robot 70 includes: a main support wheel assembly 701, a side support wheel assembly 702, a driving winch assembly 703, and a load-bearing robot body 704; the main support wheel assembly 701, the side support wheel assembly 702, and the driving winch assembly 703 are installed on the load-bearing robot body 704; the concave surface of the main support wheel assembly 701 is clamped to the convex surface of the main cable 10, and the concave surface of the side support wheel assembly 702 is clamped to the two railing ropes 402 arranged at the bottom layer.

[0070] The driving winch assembly 703 is connected to the second end of the traction assembly 80. When each driving module 6021 drives the traction robot body 601 to move along the two handrail ropes 401 arranged at the top layer and is anchored at the top ends of the two support rods 50, the driving winch assembly 703 contracts the traction assembly 80 to pull the main support wheel assembly 701 to move along the main cable 10 and pull the side support wheel assembly 702 to move along the two railing ropes 402 arranged at the bottom layer, so as to drive the load-bearing robot body 704 to move.

[0071] In the embodiment, since the load-bearing robot 70 usually needs to carry heavy detection devices, etc. to detect the main cable 10, or carry heavy maintenance devices to repair the main cable 10, etc., the concave surface of the main support wheel assembly 701 of the load-bearing robot 70 in this embodiment is matched with the convex surface of the main cable 10, so that the load-bearing robot 70 can move on the main cable 10. And based on the cooperation between the concave surface of the main support wheel assembly 701 and the convex surface of the main cable 10, the load-bearing robot 70 cannot fall off the main cable 10 either, providing a relatively stable supporting effect. In addition, in order to prevent the load-bearing robot 70 from falling off the main cable 10 due to left-right shaking, at this time, the concave surface of the side support wheel assembly 702 needs to be clamped to the two railing ropes 402 arranged at the bottom layer, that is, the concave surface of the side support wheel assembly 702 is matched with the convex surface of the two railing ropes 402 arranged at the bottom layer to avoid left-right shaking and realize the smooth movement of the load-bearing robot 70 on the main cable 10.

[0072] In addition, the driving winch assembly 703 is fixedly connected to the second end of the traction assembly 80. When each driving module 6021 in the traction robot 60 drives the traction robot body 601 to move along the two uppermost handrail ropes 401 and is fixed at the top of the two support rods 50, at this time, the driving winch assembly 703 contracts the traction assembly 80, that is, winds up the traction assembly 80. In this way, on the basis that the traction assembly 80 is wound up shorter and shorter, it can drive the main support wheel assembly 701 to move along the main cable 10 and drive the side support wheel assembly 702 to move along the two railing ropes 402 arranged at the lowermost layer. Moreover, since the main support wheel assembly 701, the side support wheel assembly 702 and the driving winch assembly 703 are all installed on the load-bearing robot body 704, when the traction assembly 80 is wound up, it can also drive the load-bearing robot body 704 to move.

[0073] Optionally, on the basis of Figure 5 the described embodiments, please refer to Figure 6 for another structural schematic diagram of the load-bearing robot provided in the embodiments of the present application. As Figure 6 shown, the above-mentioned driving winch assembly 703 may include two sets of symmetric driving winch structures. Each set of driving winch structures includes a winch drum 7031, a worm assembly 7032, a reducer 7033 and a winch motor 7034; the winch drum 7031 is coaxially connected to the worm assembly 7032 through a first shaft 705, the worm assembly 7032 is coaxially connected to the reducer 7033 and the winch motor 7034 through a second shaft 706, and the first shaft 705 is perpendicular to the second shaft 706; the winch drum 7031 is connected to the second end of the traction assembly 80;

[0074] The winch motor 7034 is used to provide the second driving power and transmit the second driving power to the worm assembly 7032;

[0075] The worm assembly 7032 is used to transmit the second driving power to the winch drum 7031;

[0076] The winch drum 7031 contracts the traction assembly 80 based on the second driving power.

[0077] In the embodiment, the hoisting drum 7031 is fixedly connected to the second end of the traction assembly 80, and the hoisting motor 7034 is mainly used to provide the second driving power. The second driving power is transmitted to the worm assembly 7032 via the second shaft 706, and the worm assembly 7032 then transmits the second driving power to the hoisting drum 7031 via the first shaft 705. In this way, under the action of the second driving power, the hoisting drum 7031 can retract the traction assembly 80. Therefore, by retracting the traction assembly 80 with the hoisting drum 7031, on the basis that the traction assembly 80 is retracted shorter and shorter, the main support wheel assembly 701 can be driven to move along the main cable 10, and the side support wheel assembly 702 can be driven to move along the two railing ropes 402 arranged at the bottom layer, and the load-bearing robot body 704 can be driven to move.

[0078] It should be noted that the description of the driving hoisting assembly 703 installed on the load-bearing robot body 704 is only a schematic description. In actual applications, the above-mentioned driving hoisting assembly 703 can also be installed on the aforementioned traction robot body 601. At this time, the driving hoisting assembly 703 installed on the aforementioned traction robot body 601 retracts the traction assembly 80 fixedly installed at the first end of the traction robot body 601 to drive the main support wheel assembly 701 to move along the main cable 10, and drive the side support wheel assembly 702 to move along the two railing ropes 402 arranged at the bottom layer and drive the load-bearing robot body 704 to move.

[0079] Optionally, Figure 5 and Figure 6 On the basis of the described embodiment, please refer to Figure 7 , which is another structural schematic diagram of the load-bearing robot provided in the embodiment of the present application. As Figure 7 shown, the load-bearing robot 70 may further include a first detection device 707, which is suspended directly below the load-bearing robot body 704 and is mainly used to detect the main cable 10. As Figure 6 shown, the first detection device 707 is installed upside down directly below the load-bearing robot body 704, mainly for the purpose that when the load-bearing robot body 704 is moving, the first detection device 707 can be used to comprehensively detect the main cable 10. It can be understood that the first detection device 707 may include, but is not limited to, devices with camera functions, etc., and will not be specifically limited in the embodiment of the present application.

[0080] Optionally, in some other embodiments, the aforementioned main support wheel assembly 701 may include two main support wheels, which mainly slide on the main cable 10.

[0081] Optionally, in some other embodiments, the side support wheel assembly 702 includes four side support wheels, and the distance between every two of the four side support wheels that are axially symmetric based on the load-bearing robot body 704 is equal to the distance between the two bottommost railing ropes 402.

[0082] In the embodiment, the axial symmetry based on the load-bearing robot body 704 mainly refers to the symmetry based on the x-axis of the load-bearing robot body 704, and the distance between every two side support wheels that are symmetric is equal to the distance between the two bottommost railing ropes 402. The purpose is to enable the concave surface of each side support wheel to completely fit the convex surfaces of the two bottommost railing ropes 402, that is, to be stuck on the convex surfaces of the two bottommost railing ropes 402, so that when each side support wheel moves along the two bottommost railing ropes 402, it can prevent each main support wheel from falling off the main cable 10 due to left and right shaking.

[0083] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A split-type main cable detection device, characterized in that, The split-type main cable detection device is used to detect the main cable, and includes: a traction robot, a load-bearing robot, and a traction component; the traction robot is anchored at the top ends of two support rods, the first end of the traction component is connected to the traction robot, and the second end of the traction component is connected to the load-bearing robot; wherein, the weight of the load-bearing robot is much heavier than that of the traction robot; The traction robot moves along the handrail rope assembly under the action of a first driving force, and when the traction robot is anchored at the top ends of the two support rods after moving along the handrail rope assembly, the load-bearing robot is driven to move along the main cable and the handrail rope assembly through the traction component, and the handrail rope assembly is located above the main cable and parallel to the main cable; Wherein, the handrail rope assembly includes two handrail ropes arranged on the topmost layer and two railing ropes arranged on the bottommost layer, and each handrail rope is parallel to each railing rope; each support rod is connected to the handrail rope and the railing rope arranged on the same side and is perpendicular to the main cable; the two railing ropes arranged on the bottommost layer are the ropes at the bottommost part above the main cable; The two support rods are used to anchor the traction robot to the two handrail ropes arranged on the topmost layer, so that the traction robot moves along the two handrail ropes on the topmost layer; Wherein, the traction robot includes: a traction robot body and a driving component, and the driving component is installed on the traction robot body; the driving component includes four driving modules, and the distance between every two of the four driving modules that are axisymmetric based on the traction robot body is equal to the distance between the two handrail ropes arranged on the topmost layer; Each driving module is used to provide the first driving force to drive the traction robot body to move along the two handrail ropes arranged on the topmost layer; Wherein, the traction robot further includes a hook assembly; the hook assembly is fixedly installed at the first end of the traction robot body, and the first end of the traction robot body is anchored at the top ends of the two support rods; The hook assembly is used to fix the first end of the traction component, so that when each driving module drives the traction robot body to move along the two handrail ropes arranged on the topmost layer and is anchored at the top ends of the two support rods, the load-bearing robot is driven to move along the main cable and the two railing ropes arranged on the bottommost layer through the traction component; Wherein, the traction robot further includes a second detection device; the second detection device is installed on the traction robot body and is used to detect the main cable.

2. The split-type main cable detection device according to claim 1, characterized in that, The load-bearing robot includes: a main support wheel assembly, a side support wheel assembly, a driving winch assembly, and a load-bearing robot body; the main support wheel assembly, the side support wheel assembly, and the driving winch assembly are installed on the load-bearing robot body; the concave surface of the main support wheel assembly is stuck on the convex surface of the main cable, and the concave surface of the side support wheel assembly is stuck on the two railing ropes arranged on the bottommost layer; The driving winch assembly is connected to the second end of the traction assembly. When each driving module drives the traction robot body to move along the two handrails arranged on the topmost layer and anchors at the top ends of the two support rods, the driving winch assembly contracts the traction assembly to tow the main support wheel assembly to move along the main cable and tow the side support wheel assembly to move along the two railing ropes arranged on the bottommost layer, so as to drive the load-bearing robot body to move.

3. The split-type main cable detection device according to claim 2, characterized in that, The driving winch assembly includes two sets of symmetric driving winch structures. Each set of driving winch structures includes a winch drum, a worm gear assembly, a reducer, and a winch motor. The winch drum is coaxially connected to the worm gear assembly through a first shaft. The worm gear assembly is coaxially connected to the reducer and the winch motor through a second shaft. The first shaft is perpendicular to the second shaft. The winch drum is connected to the second end of the traction assembly. The winch motor is used to provide a second driving force and transmit the second driving force to the worm gear assembly. The worm gear assembly is used to transmit the second driving force to the winch drum. The winch drum contracts the traction assembly based on the second driving force.

4. The split-type main cable detection device according to claim 2 or 3, characterized in that, The load-bearing robot further includes a first detection device. The first detection device is suspended directly below the load-bearing robot body and is used to detect the main cable.

5. The split-type main cable detection device according to any one of claims 2 - 3, characterized in that, The main support wheel assembly includes two main support wheels.

6. The split-type main cable detection device according to any one of claims 2 - 3, characterized in that, The side support wheel assembly includes four side support wheels. The distance between every two of the four side support wheels that are axisymmetric with respect to the load-bearing robot body is equal to the distance between the two railing ropes arranged on the bottommost layer.

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