Suspension bridge main cable maintenance robot

Abstract

The embodiment of the present application provides a suspension bridge main cable maintenance robot, which is used for improving the stability of the robot in main cable work and comprises a maintenance work part, a climbing part and at least one set of supporting parts. The supporting part comprises a driving mechanism, a connecting block and a rolling mechanism. The climbing part is used for climbing along the component rope of the suspension bridge. First hinges are arranged on the two sides of the climbing part, and the climbing part is hinged with the middle part of the connecting block through the first hinges. One end of the driving mechanism is connected with the first end of the connecting block, and the end of the driving mechanism away from the connecting block is connected with the climbing part, and the driving mechanism is used for driving the connecting block to rotate around the first hinge. The second end of the connecting block is connected with the rolling mechanism, and the rolling mechanism is used for rolling on the surface of the main cable of the suspension bridge. The maintenance work part is arranged on the climbing part or the supporting part and is used for maintaining the main cable. The robot can simultaneously bear the reaction force of the component rope and the main cable of the suspension bridge, the force system is more stable, and shaking and vibration of the robot during work are reduced.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of robots, in particular to a main cable maintenance robot for suspension bridge. BACKGROUND

[0002] The main cable is an important component of the suspension bridge, which needs to be regularly maintained to avoid major accidents. At present, the maintenance of the main cable is mainly completed by manpower, which is extremely low in efficiency and has the risk of personnel casualties. With the development of robot technology, it has become a new trend to complete the maintenance task of the main cable by robots. When the robot climbs along the handrail rope as the track, the robot is prone to shaking and vibration due to insufficient rigidity of the handrail rope and / or large wind force in the climbing environment, thereby reducing the imaging quality of the detection camera and the operation accuracy of the mechanical hand. SUMMARY

[0003] Embodiments of the present application provide a main cable maintenance robot for suspension bridge, which is used to improve the stability of the robot working on the main cable.

[0004] Embodiments of the present application provide a main cable maintenance robot for suspension bridge, which comprises a maintenance working part, a climbing part and at least one set of supporting part; the supporting part comprises a driving mechanism, a connecting block and a rolling mechanism;

[0005] The climbing part is located at the top of the robot, and the climbing part is used to climb along the component rope of the suspension bridge; the first hinge is arranged on both sides of the climbing part, the climbing part is hinged with the middle part of the connecting block through the first hinge, and the connecting block extends to the bottom of the robot, so that the supporting part is surrounded on both sides of the main cable of the suspension bridge;

[0006] The first end of the connecting block is connected with one end of the driving mechanism, and the end of the driving mechanism away from the connecting block is connected with the climbing part; the driving mechanism is used to drive the connecting block to rotate around the first hinge;

[0007] The second end of the connecting block is connected with the rolling mechanism, and the rolling mechanism is used to roll on the surface of the main cable of the suspension bridge;

[0008] The maintenance working part is arranged on the climbing part or the supporting part, and is used to maintain the main cable.

[0009] In an implementation manner of the embodiments of the present application, the driving mechanism comprises a first connecting rod, a second connecting rod, an electric cylinder, a linear slide rail and a sliding block;

[0010] The linear slide rail is fixedly arranged on the climbing part, and the sliding block can slide up and down along the linear slide rail;

[0011] The middle part of the first connecting rod is fixedly connected with the sliding block, the first connecting rod is connected with one end of the electric cylinder, and the end of the electric cylinder away from the first connecting rod is connected with the climbing part;

[0012] Two second connecting rods are respectively hinged to two ends of the first connecting rod, and one end of each of the two second connecting rods away from the first connecting rod is hinged to the first end of a different connecting block.

[0013] In an implementation manner of the embodiment of the application, the number of support parts is even, and the even number of support parts are symmetrically arranged on two sides of the climbing part.

[0014] In an implementation manner of the embodiment of the application, the plane in which the first hinge rotates is perpendicular to the main cable axis direction, so that the connecting block can be unfolded like a wing around the climbing part.

[0015] In an implementation manner of the embodiment of the application, the first hinge, the second end of the connecting block and the first end of the connecting block are collinear, and the first hinge is arranged between the second end of the connecting block and the first end of the connecting block.

[0016] Alternatively, the first hinge, the second end of the connecting block and the first end of the connecting block form a triangular relationship.

[0017] In an implementation manner of the embodiment of the application, the maintenance working part comprises a visual system, and the visual system is used for inspecting the main cable and the main cable accessory.

[0018] In an implementation manner of the embodiment of the application, the maintenance working part comprises a mechanical arm system, and the mechanical arm system is used for repairing the main cable and the main cable accessory.

[0019] In an implementation manner of the embodiment of the application, the rolling mechanism comprises a first rolling mechanism and / or a second rolling mechanism.

[0020] The first rolling mechanism and the second rolling mechanism are arranged along the main cable axis direction.

[0021] In an implementation manner of the embodiment of the application, the rolling mechanism comprises a third rolling mechanism and / or a fourth rolling mechanism.

[0022] The third rolling mechanism is in contact with the surface of the upper half of the main cable, and the fourth rolling mechanism is in contact with the surface of the lower half of the main cable.

[0023] In an implementation manner of the embodiment of the application, the rolling mechanism comprises a wheel.

[0024] The wheel is used for rolling on the surface of the main cable of the suspension bridge, and the wheel comprises an omni-directional wheel or a universal ball wheel.

[0025] In an implementation manner of the embodiment of the application, the rolling mechanism further comprises a movable connecting rod and a shock absorber.

[0026] One end of the movable connecting rod is connected to the wheel, and the end of the movable connecting rod away from the wheel is hinged to the connecting block.

[0027] One end of the shock absorber is connected with the movable connecting rod, and the other end of the shock absorber away from the movable connecting rod is connected with the connecting block.

[0028] From the above technical solution, the embodiment of the application has the following advantages:

[0029] In the embodiment of the application, the support parts are arranged on both sides of the climbing part, and the rolling mechanisms of the support parts directly contact the main cable, so that the robot can simultaneously receive the reaction force of the assembly rope of the suspension bridge and the main cable, the force system is more stable, and shaking and vibration of the robot during work are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a three-dimensional structural schematic view of a suspension bridge main cable maintenance robot according to an embodiment of the application;

[0031] Figure 2 is a front view of the suspension bridge main cable maintenance robot according to an embodiment of the application when the lower part of the connecting block of the robot closely abuts the main cable;

[0032] Figure 3 is a front view of the suspension bridge main cable maintenance robot according to an embodiment of the application when the lower part of the connecting block of the robot avoids obstacles;

[0033] Figure 4 is another three-dimensional structural schematic view of a suspension bridge main cable maintenance robot according to an embodiment of the application;

[0034] Figure 5 is Figure 4 a partial enlarged view of

[0035] Figure 6 is another front view of the suspension bridge main cable maintenance robot according to an embodiment of the application when the lower part of the connecting block of the robot closely abuts the main cable;

[0036] Figure 7 is another front view of the suspension bridge main cable maintenance robot according to an embodiment of the application when the lower part of the connecting block of the robot avoids obstacles;

[0037] Figure 8 is another three-dimensional structural schematic view of a suspension bridge main cable maintenance robot according to an embodiment of the application;

[0038] Figure 9 is another front view of the suspension bridge main cable maintenance robot according to an embodiment of the application when the omnidirectional wheel of the robot is located at the lower part of the main cable;

[0039] Figure 10 is another three-dimensional structural schematic view of a suspension bridge main cable maintenance robot according to an embodiment of the application;

[0040] Figure 11is another front view of the suspension bridge main cable maintenance robot of the embodiment of the present application when the connecting block is attached to the main cable;

[0041] 1, climbing part; 201, connecting block; 202, omni-directional wheel; 2021, first omni-directional wheel; 2022, second omni-directional wheel; 203, shock absorber; 2031, first shock absorber; 2032, second shock absorber; 204, movable connecting rod; 2041, first movable connecting rod; 2042, second movable connecting rod; 205, electric cylinder; 206, linear slide rail; 207, sliding block; 208, first connecting rod; 209, second connecting rod; 301, main cable; 302, maintenance passage railing rope; 303, handrail rope; 304, cable clamp; 501, mechanical arm system; 502, vision system. DETAILED DESCRIPTION

[0042] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application and in the above-described drawings are used to distinguish similar objects, not necessarily described in a particular order or sequence. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments described herein can be carried out in other than the order depicted or described herein. Furthermore, the terms "comprise" and "have", and any variations thereof, are intended to cover not exclusively containing, for example, a process, method, system, product, or apparatus comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products, or apparatuses.

[0043] The embodiment of the present application provides a suspension bridge main cable maintenance robot, which comprises a maintenance working part, a climbing part 1 and at least one set of supporting parts. The supporting part comprises a driving mechanism, a connecting block 201 and a rolling mechanism.

[0044] The climbing part 1 is located at the top of the robot, and the climbing part 1 is used for climbing along the component rope of the suspension bridge. First hinges are arranged on the two sides of the climbing part 1, the climbing part 1 is hinged to the middle part of the connecting block 201 through the first hinges, and the connecting block 201 extends to the bottom of the robot, so that the supporting part surrounds the two sides of the main cable 301 of the suspension bridge.

[0045] The first end of the connecting block 201 is connected to one end of the driving mechanism, and the end of the driving mechanism away from the connecting block 201 is connected to the climbing part 1, and the driving mechanism is used to drive the connecting block 201 to rotate around the first hinge.

[0046] The second end of the connecting block 201 is connected to the rolling mechanism, and the rolling mechanism is used to roll on the surface of the main cable 301 of the suspension bridge.

[0047] The maintenance working part is arranged on the climbing part 1 or the supporting part, and is used for maintaining the main cable 301.

[0048] In the embodiments of the present application, the support part is arranged on both sides of the climbing part 1, and the rolling mechanism of the support part directly contacts the main cable 301, so that the robot can simultaneously receive the reaction force of the assembly rope of the suspension bridge and the main cable 301, the force system is more stable, and the shaking and vibration of the robot during work are reduced.

[0049] It should be noted that the broad sense of the main cable 301 can include the narrow sense of the main cable 301 and the main cable accessory.

[0050] In view of the problem that the robot is prone to shaking and vibration during the process of climbing on the main cable 301, the suspension bridge main cable maintenance robot provided in the embodiments of the present application comprises a climbing part 1 and a support part. The climbing part 1 can climb along the handrail rope 303 or the maintenance path railing rope 302 of the main cable 301. One end of the support part is connected to the climbing part 1 through a first hinge, and the other end of the support part is provided with an omni-directional wheel 202 or a universal ball wheel. The omni-directional wheel 202 or the universal ball wheel and the like can be collectively referred to as a wheel.

[0051] When the climbing part 1 does not encounter obstacles such as cable clamps 304 during the climbing process, the support part rotates inward relative to the main cable 301 around the first hinge at one end, so that the omni-directional wheel 202 or the universal ball wheel at one end of the support part closely abuts the surface of the main cable 301 and exerts a certain pressure on the surface of the main cable 301. When the climbing part 1 moves along the direction of the handrail rope 303 / maintenance path railing rope 302, the omni-directional wheel 202 or the universal ball wheel can also roll along the axial direction of the main cable 301. When the omni-directional wheel 202 / universal ball wheel closely abuts the surface of the main cable 301, it can not only roll along the axial direction of the main cable 301, but also roll along the circumferential direction of the main cable 301. The stable force system of the robot under the combined action of the reaction force of the main cable 301, the reaction force of the handrail rope 303 / maintenance path railing rope 302 and its own gravity can resist the interference caused by the wind and the insufficient rigidity of the handrail rope 303 / maintenance path railing rope 302, so that the robot can remain stable during climbing.

[0052] When the climbing part 1 encounters obstacles such as cable clamps during the climbing process, the support part rotates outward relative to the main cable 301 around the first hinge at one end, and the omni-directional wheel 202 or the universal ball wheel at the other end of the support part is out of contact with the main cable 301, so as to form a certain avoiding space between the support part and the main cable 301, thereby realizing the avoidance of the support part from the obstacles such as cable clamps 304. The plane in which the first hinge rotates is perpendicular to the axial direction of the main cable 301, so that the connecting block 201 can be unfolded like a wing around the climbing part 1.

[0053] The climbing part 1 and the support part can be provided with a vision system 502, a mechanical arm system 501, etc. During the climbing of the robot in the axial direction of the main cable 301, the vision system 502 and the mechanical arm system 501 carried thereby can be used to inspect and repair the main cable 301 and its accessories. The vision system 502 is used to inspect the main cable 301 and the main cable accessories. The mechanical arm system 501 is used to repair the main cable 301 and the main cable accessories.

[0054] The number of support parts can be an even number, such as 2, 4, or 6, etc. The support parts are arranged symmetrically on the left and right of the axis of the main cable 301, that is, the even number of support parts are symmetrically arranged on the left and right of the climbing part 1. For example, if there are two support parts, one support part is installed on the left and right of the axis of the main cable 301; for example, if there are four support parts, two support parts are installed on the left and right of the axis of the main cable 301. In the following embodiments, two support parts are taken as an example for description.

[0055] The embodiments of the present application use a machine to replace manual inspection and repair of the main cable 301, thereby improving the efficiency of inspection and repair and reducing the risk of personnel injury. It should be noted that the handrail rope 302 can also be referred to as a maintenance path handrail rope 302. The handrail rope 303 can also be referred to as a main cable 301 handrail rope 303. The component ropes of the suspension bridge include the main cable 301 handrail rope 303 and the maintenance path handrail rope 302.

[0056] It should be noted that the omni-directional wheel 202 can be a general omni-directional wheel 202, or a Mecanum wheel, etc.

[0057] In order to realize the rotation of the support part relative to the climbing part 1, a driving mechanism is needed to drive the connection block 201 to rotate relative to the climbing part 1. The driving mechanism can have various structures. One of the schemes is that one driving mechanism has two electric cylinders 205, and the two electric cylinders 205 drive one connection block 201 respectively. Details are shown in Embodiment 1. Another scheme is that one driving mechanism has one electric cylinder 205, and the electric cylinder 205 drives two connection blocks 201. Details are shown in Embodiment 2.

[0058] In one implementation, the driving mechanism includes an electric cylinder 205.

[0059] One end of the electric cylinder 205 is hinged to the first end of the connection block 201, and the end of the electric cylinder 205 away from the connection block 201 is hinged to the climbing part 1.

[0060] In one implementation, the driving mechanism includes a first connecting rod 208, a second connecting rod 209, an electric cylinder 205, a linear slide rail 206, and a sliding block 207.

[0061] The linear slide rail 206 is fixedly arranged on the climbing part 1, and the sliding block 207 can slide up and down along the linear slide rail 206.

[0062] The middle part of the first connecting rod 208 is fixedly connected with the slider 207, the first connecting rod 208 is connected with one end of the electric cylinder 205, and the other end of the electric cylinder 205 away from the first connecting rod 208 is connected with the climbing part 1.

[0063] The two second connecting rods 209 are respectively hingedly connected with two ends of the first connecting rod 208, and one end of each of the two second connecting rods 209 away from the first connecting rod 208 is hingedly connected with the first end of a different connecting block 201.

[0064] Embodiment 1:

[0065] As Figures 1 to 3 , one driving mechanism has two electric cylinders 205, and the two electric cylinders 205 respectively drive one connecting block 201.

[0066] The support part includes the connecting block 201, the movable connecting rod 204, the shock absorber 203, the omni-directional wheel 202 and the electric cylinder 205.

[0067] The middle part of the connecting block 201 is connected with the climbing part 1 through the first hinge.

[0068] The upper part of the connecting block 201 can also be referred to as the first end of the connecting block 201. The first end of the connecting block 201 is connected with one end of the electric cylinder 205 through a hinge, and the other end of the electric cylinder 205 is connected with the climbing part 1 through a hinge. When the electric cylinder 205 performs the telescopic movement, the connecting part can rotate around the first hinge as the center, so that the lower part of the connecting block 201 can be relatively close to the main cable 301 or be opened outward.

[0069] The lower part of the connecting block 201 can also be referred to as the second end of the connecting block 201. The second end of the connecting block 201 is connected with one end of the movable connecting rod 204 through a hinge, and the other end of the movable connecting rod 204 is assembled with the omni-directional wheel 202 which can freely rotate. One end of the shock absorber 203 is connected with the connecting block 201 through a hinge, and the other end is connected with the movable connecting rod 204 through a hinge. The movable connecting rod 204 and the shock absorber 203 have an included angle. It should be noted that the up and down here are defined in the working state of the robot.

[0070] The first hinge, the second end of the connecting block 201 and the first end of the connecting block 201 are collinear, and the first hinge is arranged between the second end of the connecting block 201 and the first end of the connecting block 201.

[0071] Alternatively, the first hinge, the second end of the connecting block 201 and the first end of the connecting block 201 form a triangular relationship.

[0072] Optionally, each support part is provided with a symmetrical arrangement of a rolling mechanism composed of a movable connecting rod 204, an omni-directional wheel 202 and a shock absorber 203 on the left and right sides of the connecting block 201. The left and right directions of the connecting block 201 are the axial direction of the main cable 301. In other words, the rolling mechanism includes a first rolling mechanism and / or a second rolling mechanism. The first rolling mechanism and the second rolling mechanism are arranged along the axial direction of the main cable 301.

[0073] When the electric cylinder 205 is extended, the lower parts of the support parts on both sides of the axial direction of the main cable 301 are close to the main cable 301, until the omni-directional wheels 202 on both sides of the support parts are close to the surface of the main cable 301 and exert a certain pressure on the surface of the main cable 301. When the climbing part 1 moves along the axial direction of the main cable 301, since the omni-directional wheels 202 close to the main cable 301 can rotate along the circumferential surface of the main cable 301 and along the axial direction of the main cable 301, the omni-directional wheels 202 can move along the axial direction of the main cable 301 with the climbing part 1. In this process, the main cable 301 exerts a reaction force on the robot through the omni-directional wheels 202, so that the overall force system of the robot is relatively stable, and can resist the interference caused by wind and insufficient rigidity of the handrail rope 303 / maintenance path rail rope 302.

[0074] When the electric cylinder 205 is shortened, the lower ends of the support parts on both sides of the axial direction of the main cable 301 are away from the main cable 301, the support parts are expanded like wings, the omni-directional wheels 202 close to the main cable 301 are separated from the main cable 301, and a certain space is formed to enable the robot to pass through obstacles such as locks and clamps.

[0075] Embodiment 2:

[0076] As Figures 4 to 7 One driving mechanism has one electric cylinder 205, and one electric cylinder 205 drives two connecting blocks 201.

[0077] The support part includes the connecting block 201, the movable connecting rod 204, the shock absorber 203, the omni-directional wheel 202 and the driving mechanism.

[0078] The middle part of the connecting block 201 is connected to the climbing part 1 through a hinge.

[0079] The lower part of the connecting block 201 can also be referred to as the second end of the connecting block 201. The second end of the connecting block 201 is connected to one end of the movable connecting rod 204 through a hinge, and the other end of the movable connecting rod 204 is equipped with a freely rotatable omni-directional wheel 202. One end of the shock absorber 203 is connected to the connecting block 201 through a hinge, and the other end is connected to the movable connecting rod 204 through a hinge.

[0080] The driving mechanism comprises an electric cylinder 205, a linear slide rail 206, a sliding block 207, a first connecting rod 208, and two second connecting rods 209 symmetrically arranged around the first connecting rod 208. The linear slide rail 206 is fixedly installed on the climbing part 1. The sliding block 207 is capable of sliding up and down along the linear slide rail 206 after being matched with the linear slide rail 206. The linear slide rail 206 is vertically installed on the climbing part 1, that is, when the sliding block 207 slides upward along the linear slide rail 206, it moves away from the axis of the main cable 301, and when the sliding block 207 slides downward along the linear slide rail 206, it approaches the axis of the main cable 301. The upward and downward directions are referred to the plumb direction. The first connecting rod 208 is fixedly installed on the sliding block 207, and the two ends thereof are respectively connected with one end of the left and right second connecting rods 209 through hinges. The other end of the left second connecting rod 209 is connected with the first end of the left connecting block 201 through a hinge, and the other end of the right second connecting rod 209 is connected with the first end of the right connecting block 201 through a hinge. One end of the electric cylinder 205 is connected with the climbing part 1 through a hinge, and the other end thereof is connected with the first connecting rod 208 through a hinge.

[0081] When the electric cylinder 205 is shortened, the lower ends of the support parts on both sides of the main cable 301 move close to the main cable 301, until the omni-directional wheels 202 on both sides of the support parts are tightly attached to the surface of the main cable 301 and exert a certain pressure on the surface of the main cable 301. When the climbing part 1 moves along the axis direction of the main cable 301, the omni-directional wheels 202 tightly attached to the main cable 301 can rotate along the circumferential surface of the main cable 301 and along the axis direction of the main cable 301, so as to move along the axis direction of the main cable 301 with the climbing part 1. In this process, the main cable 301 exerts a reaction force on the robot through the omni-directional wheels 202, so that the overall force system of the robot is relatively stable, and can resist the interference caused by the wind and the insufficient rigidity of the handrail rope 303 and the inspection path rail rope 302.

[0082] When the electric cylinder 205 is elongated, the lower ends of the support parts on both sides of the main cable 301 move away from the main cable 301, the support parts are expanded like wings, the omni-directional wheels 202 tightly attached to the main cable 301 are separated from the main cable 301, and a certain space is formed, so that the robot can pass through the obstacles such as the locking clamp.

[0083] In order to realize the stable contact between the support part and the main cable 301, a rolling mechanism is required to be used to rollingly contact with the main cable 301. The rolling mechanism can have various structures. One of the structures is that the rolling mechanism contacts with the surface of the upper half of the main cable 301, which is described in detail in Embodiment 1. Another structure is that the rolling mechanism contacts with the surface of the lower half of the main cable 301, which is described in detail in Embodiment 4. Another structure is that the support part comprises two rolling mechanisms, one of which contacts with the surface of the upper half of the main cable 301, and the other of which contacts with the surface of the lower half of the main cable 301, which is described in detail in Embodiment 5.

[0084] The rolling mechanism includes a third rolling mechanism and / or a fourth rolling mechanism. The third rolling mechanism is in contact with the surface of the upper half of the main cable 301. The fourth rolling mechanism is in contact with the surface of the lower half of the main cable 301.

[0085] When two third rolling mechanisms are arranged along the axis direction of the main cable 301, the third rolling mechanism can also be referred to as a first rolling mechanism or a second rolling mechanism.

[0086] When two fourth rolling mechanisms are arranged along the axis direction of the main cable 301, the fourth rolling mechanism can also be referred to as a first rolling mechanism or a second rolling mechanism.

[0087] Embodiment 3:

[0088] As Figures 1 to 3 , the rolling mechanism is in contact with the surface of the upper half of the main cable 301. The rolling mechanism in contact with the surface of the upper half of the main cable 301 can also be referred to as a third rolling mechanism. Embodiment 3 is the same as embodiment 1, which will not be repeated here.

[0089] Embodiment 4:

[0090] As Figures 8 to 9 , the rolling mechanism is in contact with the surface of the lower half of the main cable 301. The rolling mechanism in contact with the surface of the lower half of the main cable 301 can also be referred to as a fourth rolling mechanism. In addition to the rolling mechanism, embodiment 4 is similar to embodiment 1, which will not be repeated here.

[0091] Embodiment 5:

[0092] As Figures 10 to 11 , the support part includes two rolling mechanisms, namely a third rolling mechanism and a fourth rolling mechanism. The third rolling mechanism is in contact with the surface of the upper half of the main cable 301, and the fourth rolling mechanism is in contact with the surface of the lower half of the main cable 301.

[0093] The support part includes a connecting block 201, a first movable connecting rod 2041, a second movable connecting rod 2042, a first shock absorber 2031, a second shock absorber 2032, a first omnidirectional wheel 2021, a second omnidirectional wheel 2022, and an electric cylinder 205.

[0094] The middle part of the connecting block 201 is connected to the climbing part 1 through a hinge,

[0095] The upper part is connected to one end of the electric cylinder 205 through a hinge, and the other end of the electric cylinder 205 is connected to the climbing part 1 through a hinge. When the electric cylinder 205 performs extension and retraction movement, the connecting part can rotate around the first hinge as the center, and the lower part can be relatively close to the main cable 301 / open outward.

[0096] The lower part of the connecting block 201 can also be referred to as the second end of the connecting block 201. The second end of the connecting block 201 is connected to one end of the first movable connecting rod 2041 and the second movable connecting rod 2042 through a hinge, and the other end of the first movable connecting rod 2041 and the second movable connecting rod 2042 is respectively equipped with the first omni-directional wheel 2021 and the second omni-directional wheel 2022 which can rotate freely. One end of the first shock absorber 2031 is connected to the connecting block 201 through a hinge, and the other end is connected to the first movable connecting rod 2041 through a hinge. One end of the second shock absorber 2032 is connected to the connecting block 201 through a hinge, and the other end is connected to the second movable connecting rod 2042 through a hinge.

[0097] Optionally, the single support part is provided with symmetrically arranged first movable connecting rods 2041, second movable connecting rods 2042, first omni-directional wheels 2021, second omni-directional wheels 2022, first shock absorbers 2031 and second shock absorbers 2032 on the left and right sides of the connecting block 201. The left and right directions of the connecting block 201 are the axis directions of the main cable 301.

[0098] When the electric cylinder 205 is elongated, the lower ends of the support parts on both sides of the axis of the main cable 301 are close to the main cable 301, until the first omni-directional wheels 2021 and the second omni-directional wheels 2022 on both sides of the support part are close to the surface of the main cable 301 and exert a certain pressure on the surface of the main cable 301, wherein the first omni-directional wheels 2021 are located on the upper half of the main cable 301, and the second omni-directional wheels 2022 are located on the lower half of the main cable 301. When the climbing part 1 moves along the axis direction of the main cable 301, since the first omni-directional wheels 2021 and the second omni-directional wheels 2022 closely attached to the main cable 301 can rotate both along the circumferential surface of the main cable 301 and along the axis direction of the main cable 301, they can follow the climbing part 1 to move along the axis direction of the main cable 301. In this process, the main cable 301 exerts a reaction force on the robot through the first omni-directional wheels 2021 and the second omni-directional wheels 2022, so that the overall force system of the robot is relatively stable, and can resist the interference caused by wind and insufficient rigidity of the handrail rope 303 / inspection path railing rope 302.

[0099] When the electric cylinder 205 is shortened, the lower ends of the support parts on both sides of the axis of the main cable 301 are away from the main cable 301, the support parts are spread like wings, the first omni-directional wheels 2021 and the second omni-directional wheels 2022 closely attached to the main cable 301 are separated from the main cable 301, and a certain space is formed to enable the robot to pass through the lock clamp and other obstacles.

[0100] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part 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 robot for inspecting the main cable of a suspension bridge, characterized in that, include: Maintenance work unit, climbing unit (1) and at least one group Support section; the support section includes a drive mechanism, a connecting block (201) and a rolling mechanism; The climbing part (1) is located at the top of the robot and is used to climb along the component rope of the suspension bridge. First hinges are provided on both sides of the climbing part (1). The climbing part (1) is hinged to the middle of the connecting block (201) through the first hinges. The connecting block (201) extends towards the bottom of the robot so that the support part surrounds both sides of the main cable (301) of the suspension bridge. The first end of the connecting block (201) is connected to one end of the driving mechanism, and the end of the driving mechanism away from the connecting block (201) is connected to the climbing part (1). The driving mechanism is used to drive the connecting block (201) to rotate around the first hinge. The second end of the connecting block (201) is connected to the rolling mechanism, which is used to roll on the surface of the main cable (301) of the suspension bridge; The maintenance work unit is located in the climbing part (1) or the support part, and is used to maintain the main cable (301). The driving mechanism includes a first connecting rod (208), a second connecting rod (209), an electric cylinder (205), a linear slide rail (206), and a slider (207). The linear slide rail (206) is fixedly mounted on the climbing part (1), and the slider (207) can slide up and down along the linear slide rail (206). The middle part of the first connecting rod (208) is fixedly connected to the slider (207), and the first connecting rod (208) is connected to one end of the electric cylinder (205). The end of the electric cylinder (205) away from the first connecting rod (208) is connected to the climbing part (1). The two second connecting rods (209) are respectively hinged to both ends of the first connecting rod (208), and the ends of the two second connecting rods (209) away from the first connecting rod (208) are respectively hinged to the first ends of different connecting blocks (201). The rolling mechanism includes a wheel; the wheel is used to roll on the surface of the main cable (301) of the suspension bridge, and the wheel includes an omnidirectional wheel (202) or a universal ball wheel; the rolling mechanism also includes a movable link (204) and a shock absorber (203); one end of the movable link (204) is connected to the wheel, and the end of the movable link (204) away from the wheel is hinged to the connecting block (201); one end of the shock absorber (203) is connected to the movable link (204), and the end of the shock absorber (203) away from the movable link (204) is connected to the connecting block (201), and there is an included angle between the movable link (204) and the shock absorber (203).

2. The suspension bridge main cable maintenance robot according to claim 1, characterized in that, The number of the support parts is even, and the even number of support parts are symmetrically arranged on both sides of the climbing part (1).

3. The suspension bridge main cable maintenance robot according to claim 1, characterized in that, The plane in which the first hinge rotates is perpendicular to the axis of the main cable (301), so that the connecting block (201) can unfold around the climbing part (1) in a wing shape.

4. The suspension bridge main cable maintenance robot according to claim 1, characterized in that, The first hinge, the second end of the connecting block (201), and the first end of the connecting block (201) are collinear, and the first hinge is disposed between the second end of the connecting block (201) and the first end of the connecting block (201). Alternatively, the first hinge, the second end of the connecting block (201), and the first end of the connecting block (201) form a triangular relationship.

5. The suspension bridge main cable maintenance robot according to claim 1, characterized in that, The maintenance work unit includes a vision system (502) for inspecting the main cable (301) and the main cable accessories.

6. The suspension bridge main cable maintenance robot according to claim 1, characterized in that, The maintenance worker The work unit includes a robotic arm system (501) for repairing the main cable (301) and the main cable accessories.

7. The suspension bridge main cable maintenance robot according to claim 1, characterized in that, The rolling mechanism includes a first rolling mechanism and / or a second rolling mechanism; The first rolling mechanism and the second rolling mechanism are arranged along the axis of the main cable (301).

8. The suspension bridge main cable maintenance robot according to claim 7, characterized in that, The rolling mechanism includes a third rolling mechanism and / or a fourth rolling mechanism; The third rolling mechanism contacts the surface of the upper half of the main cable (301); the fourth rolling mechanism contacts the surface of the lower half of the main cable (301).

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