A robot for detecting the main cable of a bridge

Abstract

An embodiment of the present application provides a robot for detecting the main cable of a bridge, which is used to improve the detection efficiency of the main cable of the bridge, and includes: an upper vehicle body assembly, a lower vehicle body assembly, a total assembly transmission part, a sensing and detection part, and a shoe holding assembly; the upper vehicle body assembly and the lower vehicle body assembly are slidably connected; the total assembly transmission part is connected to the upper vehicle body assembly and the lower vehicle body assembly to control the relative movement of the upper vehicle body assembly and the lower vehicle body assembly; the sensing and detection part is arranged on the upper vehicle body assembly or the lower vehicle body assembly, and the sensing and detection part is used to assemble sensors for detecting the main cable of the bridge; a plurality of shoe holding assemblies are respectively installed on the upper vehicle body assembly and the lower vehicle body assembly, and the shoe holding assemblies are used to clamp and release the handrail rope of the bridge. In the embodiment of the present application, by using the shoe holding assembly, the robot can stably creep forward on the main cable of the bridge.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robots, and specifically to a robot for detecting main cables of bridges. Background Art

[0002] With the development of China's economy, a large number of long-span bridges have emerged. Bridge damage detection is a prerequisite for ensuring bridge safety. Suspension bridges have become the preferred solution for extra-large bridges due to their flexible construction, beautiful appearance, strong adaptability and good navigability. The main cable is the main load-bearing structure of the suspension bridge. The main cable is eroded by natural factors such as wind, rain, freezing, temperature and humidity changes all year round. In order to ensure the safe operation of the bridge, the main cable should be inspected and maintained regularly.

[0003] The existing inspection method mainly relies on technicians walking on the main cable for inspection, or using telescopes and other equipment to inspect on the bridge deck. The bottom of the main cable cannot be observed at close range. These inspection methods are inefficient, have blind spots, and there are great safety risks in high-altitude operations. Summary of the invention

[0004] An embodiment of the present application provides a robot for detecting a main cable of a bridge, which is used to improve the detection efficiency of the main cable of the bridge.

[0005] The embodiment of the present application provides a robot for detecting a main cable of a bridge, comprising: an upper vehicle body assembly, a lower vehicle body assembly, an assembly transmission part, a sensor detection part, and a shoe holding assembly;

[0006] The upper body assembly and the lower body assembly are slidably connected; the assembly transmission part connects the upper body assembly and the lower body assembly to control the relative movement of the upper body assembly and the lower body assembly;

[0007] The sensing detection part is arranged on the upper vehicle body assembly or the lower vehicle body assembly, and the sensing detection part is used to assemble a sensor for detecting the main cable of the bridge;

[0008] The upper car body assembly and the lower car body assembly are respectively equipped with a plurality of shoe assemblies, which are used to clamp and release the handrail ropes of the bridge.

[0009] In one implementation of the embodiment of the present application, the shoe assembly includes: a shoe motor, a clamping shoe motor mounting seat, a guide rod, a left slider, a right slider and a bidirectional lead screw;

[0010] The shoe holding motor is installed on the shoe holding motor mounting base;

[0011] The left slider and the right slider move along the guide rod driven by the bidirectional screw rod, and the movement directions of the left slider and the right slider are opposite; the left slider and the right slider are connected to the clamping claw, and the movement of the left slider and the right slider drives the opening and closing of the clamping claw.

[0012] In one implementation of the embodiment of the present application, the shoe holding assembly further includes: a synchronous belt and a synchronous pulley;

[0013] The output end of the shoe holding motor is connected to the synchronous pulley, and the synchronous pulley drives the bidirectional lead screw to rotate through the synchronous belt.

[0014] In one implementation of the embodiment of the present application, the shoe holding assembly includes: a photoelectric switch; the photoelectric switch is used to detect the handrail rope.

[0015] In one implementation of the embodiment of the present application, the upper vehicle body assembly includes: an upper vehicle body longitudinal beam, an upper vehicle body cross beam, a transmission support longitudinal beam, and a first shoe holding mounting seat;

[0016] The upper vehicle body longitudinal beam and the upper vehicle body cross beam are fixedly connected, the transmission support longitudinal beam and the upper vehicle body cross beam are fixedly connected, and the transmission support longitudinal beam is arranged on the longitudinal axis of the upper vehicle body assembly;

[0017] The assembly transmission part is installed on the transmission support longitudinal beam;

[0018] The first shoe holding mounting seat is arranged at the bottom of the upper vehicle body longitudinal beam or the upper vehicle body cross beam and is used for installing the shoe holding assembly.

[0019] In one implementation of the embodiment of the present application, the lower vehicle body assembly includes: a lower vehicle body short longitudinal beam, a lower vehicle body cross beam, a connecting plate, and a second shoe holding mounting seat;

[0020] The lower vehicle body short longitudinal beam and the lower vehicle body cross beam are fixedly connected; the lower vehicle body cross beam and the connecting plate are fixedly connected; the connecting plate is arranged on the longitudinal axis of the lower vehicle body assembly;

[0021] The second shoe holding mounting seat is arranged at the bottom of the lower vehicle body short longitudinal beam or the lower vehicle body cross beam and is used for installing the shoe holding assembly.

[0022] In one implementation of the embodiment of the present application, the upper vehicle body assembly includes: a stop block and an upper vehicle body guide rail; the lower vehicle body assembly includes an assembly slider;

[0023] The upper vehicle body guide rail is arranged at the bottom of the upper vehicle body longitudinal beam, the assembly slider is fixedly installed on the upper part of the lower vehicle body short longitudinal beam, and the upper vehicle body guide rail and the assembly slider cooperate;

[0024] The stop blocks are arranged at both ends of the upper vehicle body guide rail to limit the movement range of the lower vehicle body assembly relative to the upper vehicle body assembly.

[0025] In one implementation of the embodiment of the present application, the upper vehicle body assembly includes auxiliary support wheels;

[0026] The auxiliary support wheels are installed on the upper vehicle body longitudinal beam or the upper vehicle body cross beam.

[0027] In one implementation of the embodiment of the present application, the auxiliary support wheel includes: a support wheel mounting seat, a swing rod, a damping spring, and a rubber wheel;

[0028] The supporting wheel mounting seat is connected to the longitudinal beam or cross beam of the upper vehicle body. One end of the swing rod is rotatably connected to the supporting wheel mounting seat, and a rubber wheel is installed at the end of the swing rod away from the supporting wheel mounting seat.

[0029] Both ends of the damping spring are connected to the supporting wheel mounting seat and the swing rod, and the damping spring, the supporting wheel mounting seat and the swing rod form a triangle.

[0030] In one implementation of the embodiment of the present application, the auxiliary supporting wheel includes: an encoder;

[0031] The encoder is coaxially installed with the rubber wheel, and the encoder is used to record the rotation of the rubber wheel.

[0032] In one implementation of the embodiment of the present application, the total assembly transmission part includes a sprocket, a chain, and a transmission motor; or the total assembly transmission part includes a pulley, a belt, and a transmission motor; or the total assembly transmission part includes a gear, a rack, and a transmission motor; or the total assembly transmission part includes an electric cylinder.

[0033] In one implementation of the embodiment of the present application, the sensing and detection part includes a middle vision assembly and a side vision assembly;

[0034] The middle vision assembly is installed at the bottom of the lower vehicle body assembly for detecting the upper part of the main cable of the bridge;

[0035] The side vision assembly is installed on both sides of the lower vehicle body assembly and extends downward below the lower vehicle body assembly for detecting the two sides and the bottom of the main cable of the bridge.

[0036] From the above technical solutions, it can be seen that the embodiment of the present application has the following advantages:

[0037] In the embodiment of the present application, multiple shoe assemblies are respectively installed on the upper vehicle body assembly and the lower vehicle body assembly. The shoe assemblies of the upper vehicle body assembly and the shoe assemblies of the lower vehicle body assembly alternately clamp and release the handrail rope, and the driving of the total assembly transmission part makes the upper vehicle body assembly and the lower vehicle body assembly alternately move forward to realize the creeping forward of the robot. That is to say, when the shoe assembly of the upper vehicle body assembly clamps the handrail rope, the shoe assembly of the lower vehicle body assembly releases the handrail rope, and the total assembly transmission part drives the lower vehicle body assembly to move forward relative to the upper vehicle body assembly; when the shoe assembly of the upper vehicle body assembly releases the handrail rope, the shoe assembly of the lower vehicle body assembly clamps the handrail rope, and the total assembly transmission part drives the upper vehicle body assembly to move forward relative to the lower vehicle body assembly. By adopting the shoe assembly, the robot can stably creep forward on the main cable of the bridge. Description of the Drawings

[0038] Figure 1 It is a schematic diagram of the working state of the robot for detecting the main cable of the bridge in the embodiment of the present application;

[0039] Figure 2It is an overall perspective view of the robot for detecting the main cable of a bridge according to an embodiment of the present application;

[0040] Figure 3 It is a perspective view of the upper body assembly of the robot for detecting the main cable of a bridge according to an embodiment of the present application;

[0041] Figure 4 It is a perspective view of the lower body assembly of the robot for detecting the main cable of a bridge according to an embodiment of the present application;

[0042] Figure 5 It is a perspective view of a kind of boot assembly of the robot for detecting the main cable of a bridge according to an embodiment of the present application;

[0043] Figure 6 It is another perspective view of the boot assembly of the robot for detecting the main cable of a bridge according to an embodiment of the present application;

[0044] Figure 7 It is a perspective view of the auxiliary support wheel of the robot for detecting the main cable of a bridge according to an embodiment of the present application;

[0045] 1. Main cable of bridge; 2. Handrail rope; 3. Upper railing rope; 4. Column; 5. Lower railing rope; 6. Cross brace; 7. Saddle; 8. Upper body assembly; 9. Upper body longitudinal beam; 10. Upper body cross beam; 11. Transmission support longitudinal beam; 12. Stop block; 13. Upper body guide rail; 14. First boot mounting seat; 15. Lower body assembly; 16. Second boot mounting seat; 17. Lower body short longitudinal beam; 18. Lower body cross beam; 19. Connecting plate; 20. Assembly slider; 21. Boot assembly; 22. Boot motor; 23. Top cover; 24. Photoelectric switch; 25. Jaw; 26. Synchronous belt; 27. Synchronous belt pulley; 28. Boot motor mounting seat; 29. Left end cover; 30. Right end cover; 31. Guide rod; 32. Left slider; 33. Right slider; 34. Bi-directional lead screw; 35. Auxiliary support wheel; 36. Support wheel mounting seat; 37. Swing rod; 38. Vibration damping spring; 39. Encoder; 40. Rubber wheel; 41. Middle vision assembly; 42. Side vision assembly; 43. Camera; 44. Assembly transmission part; 45. Chain; 46. Transmission motor; 47. Sprocket. Detailed implementation manners

[0046] In the description, claims and the above-mentioned drawings of this application, terms such as "first", "second", "third", "fourth", etc. are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than that 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 includes a series of steps or units does not necessarily 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.

[0047] As Figure 1 shown, the main cable of the suspension bridge and its auxiliary facilities include: handrail rope 2, upper railing rope 3, column 4, lower railing rope 5, cross brace 6, cable clamp 7, and bridge main cable 1;

[0048] For the handrail rope 2 of the auxiliary facilities of the main cable of a suspension bridge with a long traffic time, the pre-tightening force is often insufficient, and some existing robots for detecting the bridge main cable 1 cannot adapt to the scenario where the pre-tightening force of the handrail rope 2 is insufficient.

[0049] As Figures 1 to 7 shown, an embodiment of this application provides a robot for detecting the bridge main cable 1, including: an upper vehicle body assembly 8, a lower vehicle body assembly 15, an assembly transmission part 44, a sensing and detection part, and a shoe-holding assembly 21;

[0050] The upper vehicle body assembly 8 and the lower vehicle body assembly 15 are slidably connected; the assembly transmission part 44 connects the upper vehicle body assembly 8 and the lower vehicle body assembly 15 to control the relative movement of the upper vehicle body assembly 8 and the lower vehicle body assembly 15;

[0051] The sensing and detection part is arranged on the upper vehicle body assembly 8 or the lower vehicle body assembly 15, and the sensing and detection part is used for assembling sensors for detecting the bridge main cable 1;

[0052] A plurality of shoe-holding assemblies 21 are respectively installed on the upper vehicle body assembly 8 and the lower vehicle body assembly 15, and the shoe-holding assemblies 21 are used for clamping and loosening the handrail rope 2 of the bridge.

[0053] In the embodiment of the present application, a plurality of shoe-holding assemblies 21 are respectively installed on the upper vehicle body assembly 8 and the lower vehicle body assembly 15. The shoe-holding assemblies 21 of the upper vehicle body assembly 8 and the shoe-holding assemblies 21 of the lower vehicle body assembly 15 alternately clamp and release the handrail rope 2, and the driving of the assembly transmission part 44 makes the upper vehicle body assembly 8 and the lower vehicle body assembly 15 move forward alternately to realize the peristaltic forward movement of the robot. That is to say, when the shoe-holding assembly 21 of the upper vehicle body assembly 8 clamps the handrail rope 2, the shoe-holding assembly 21 of the lower vehicle body assembly 15 releases the handrail rope 2, and the assembly transmission part 44 drives the lower vehicle body assembly 15 to move forward relative to the upper vehicle body assembly 8; when the shoe-holding assembly 21 of the upper vehicle body assembly 8 releases the handrail rope 2, the shoe-holding assembly 21 of the lower vehicle body assembly 15 clamps the handrail rope 2, and the assembly transmission part 44 drives the upper vehicle body assembly 8 to move forward relative to the lower vehicle body assembly 15. By adopting the shoe-holding assembly 21, the robot can stably move forward peristaltically on the main cable 1 of the bridge.

[0054] The working scenario of a robot for detecting the main cable 1 of a bridge provided by the embodiment of the present application is as Figure 1 shown. The robot uses the handrail rope 2 of the auxiliary facilities of the main cable of the suspension bridge as a track, and alternately clamps the handrail rope 2 through the shoe-holding assemblies 21 carried by the upper vehicle body assembly 8 and the lower vehicle body assembly 15 to move forward peristaltically, and can run smoothly even if the pre-tightening force of the handrail rope 2 is insufficient.

[0055] The sensors assembled in the sensing and detecting part can be cameras, ultrasonic detectors, etc.

[0056] As Figure 2 shown, the main cable detection robot includes an upper vehicle body assembly 8, a lower vehicle body assembly 15, a side vision assembly 42, a middle vision assembly 41, etc. Specifically, it includes a camera 43, an auxiliary support wheel 35, a slider, a guide rail, a chain 45, a sprocket 47, a transmission motor 46, etc. The side vision assembly 42 and the middle vision assembly 41 are fixed on the lower vehicle body assembly 15, and the camera 43 is installed on the side vision assembly 42 and the middle vision assembly 41. By carrying detection devices such as the camera 43, non-blind area detection of the main cable 1 of the bridge and the cable clamp 7 can be realized, and full coverage detection of the main cable 1 of the bridge can be achieved. The main cable 1 of the bridge can also be simply referred to as the main cable, or as the main cable of the suspension bridge. The transmission motor 46 uses a reduction motor.

[0057] In one implementation, the sensing and detecting part includes a middle vision assembly 41 and a side vision assembly 42. The middle vision assembly 41 is installed at the bottom of the lower vehicle body assembly 15 and is used to detect the upper part of the main cable 1 of the bridge. The side vision assembly 42 is installed on both sides of the lower vehicle body assembly 15 and is used to detect the two sides and the bottom of the main cable 1 of the bridge.

[0058] The auxiliary support wheel 35 is installed on the upper vehicle body assembly 8 to play a supporting role. The upper vehicle body assembly 8 and the lower vehicle body assembly 15 are connected by the assembly slider 20 and the upper vehicle body guide rail 13. Between the upper vehicle body assembly 8 and the lower vehicle body assembly 15, the transmission motor 46 drives the sprocket 47, and through the conduction of the chain 45, relative sliding is achieved. Four groups of clamping shoe assemblies 21 are respectively installed on the upper vehicle body assembly 8 and the lower vehicle body assembly 15, and the robot creeps forward by alternately clamping the handrail rope 2.

[0059] It should be noted that the chain 45 and the sprocket 47 can be replaced by a belt and a pulley, or a rack and a gear, etc., or an electric cylinder can be used to drive the robot to creep forward.

[0060] As Figure 3 shown, the upper vehicle body assembly 8 and its related components include the upper vehicle body longitudinal beam 9, the upper vehicle body cross beam 10, the transmission motor 46, the transmission support longitudinal beam 11, the stop block 12, the sprocket 47, the first clamping shoe mounting seat 14, the upper vehicle body guide rail 13, the assembly slider 20, the clamping shoe assembly 21, etc.

[0061] In one implementation, the upper vehicle body assembly 8 includes: the upper vehicle body longitudinal beam 9, the upper vehicle body cross beam 10, the transmission support longitudinal beam 11, and the first clamping shoe mounting seat 14. The upper vehicle body longitudinal beam 9 and the upper vehicle body cross beam 10 are fixedly connected, the transmission support longitudinal beam 11 and the upper vehicle body cross beam 10 are fixedly connected, and the transmission support longitudinal beam 11 is arranged on the longitudinal axis of the upper vehicle body assembly 8. The assembly transmission part 44 is installed on the transmission support longitudinal beam 11. The first clamping shoe mounting seat 14 is arranged at the bottom of the upper vehicle body longitudinal beam 9 or the upper vehicle body cross beam 10 for installing the clamping shoe assembly 21.

[0062] In one implementation, the upper vehicle body assembly 8 includes: the stop block 12 and the upper vehicle body guide rail 13. The lower vehicle body assembly 15 includes the assembly slider 20. The upper vehicle body guide rail 13 is arranged at the bottom of the upper vehicle body longitudinal beam 9, the assembly slider 20 is fixedly installed on the upper part of the lower vehicle body short longitudinal beam 17, and the upper vehicle body guide rail 13 and the assembly slider 20 cooperate.

[0063] In one implementation, the stop blocks 12 are arranged at both ends of the upper vehicle body guide rail 13 to limit the movement range of the lower vehicle body assembly 15 relative to the upper vehicle body assembly 8.

[0064] In one implementation, the upper vehicle body assembly 8 includes the auxiliary support wheel 35.

[0065] As Figure 4 shown, the lower vehicle body assembly 15 and its related components include the lower vehicle body short longitudinal beam 17, the lower vehicle body cross beam 18, the connecting plate 19, the second clamping shoe mounting seat 16, the clamping shoe assembly 21, etc.

[0066] In one implementation, the lower vehicle body assembly 15 includes: a lower vehicle body short longitudinal beam 17, a lower vehicle body cross beam 18, a connecting plate 19, and a second shoe mounting seat 16. The lower vehicle body short longitudinal beam 17 and the lower vehicle body cross beam 18 are fixedly connected. The lower vehicle body cross beam 18 and the connecting plate 19 are fixedly connected. The connecting plate 19 is disposed on the longitudinal axis of the lower vehicle body assembly 15. The second shoe mounting seat 16 is disposed at the bottom of the lower vehicle body short longitudinal beam 17 or the lower vehicle body cross beam 18 for mounting the shoe assembly 21.

[0067] In one implementation, the assembly transmission part 44 includes a sprocket 47, a chain 45, and a transmission motor 46. Or the assembly transmission part 44 includes a pulley, a belt, and a transmission motor 46. Or the assembly transmission part 44 includes a gear, a rack, and a transmission motor 46. Or the assembly transmission part 44 includes an electric cylinder.

[0068] As Figures 5 to 6 shown, the left end cover 29, the right end cover 30, and the top cover 23 of the shoe assembly 21 form a sealed space for accommodating a guide rod 31, a left slider 32, a right slider 33, a bidirectional lead screw 34, etc. The left slider 32 and the right slider 33 are connected to the guide rod 31 and the bidirectional lead screw. The clamping jaws 25 are fixed to the left slider 32 and the right slider 33. The shoe motor 22 drives the bidirectional lead screw through a synchronous pulley 27 and a synchronous belt 26 to achieve the opposite movement of the left slider 32 and the right slider 33, thereby realizing the function of clamping the handrail rope 2.

[0069] In one implementation, the shoe assembly 21 includes: a shoe motor 22, clamping jaws 25, a synchronous belt 26, a synchronous pulley 27, a shoe motor mounting seat 28, a guide rod 31, a left slider 32, a right slider 33, and a bidirectional lead screw 34. The shoe motor 22 is mounted on the shoe motor mounting seat 28. The output end of the shoe motor 22 is connected to the synchronous pulley 27. The synchronous pulley 27 drives the bidirectional lead screw 34 to rotate through the synchronous belt 26. The left slider 32 and the right slider 33 move along the guide rod driven by the bidirectional lead screw 34, and the moving directions of the left slider 32 and the right slider 33 are opposite. The left slider 32 and the right slider 33 are connected to the clamping jaws 25, and the movement of the left slider 32 and the right slider 33 drives the opening and closing of the clamping jaws 25.

[0070] In one implementation, the shoe assembly 21 includes: a photoelectric switch 24. The photoelectric switch 24 is used to detect whether the handrail rope 2 is separated from the clamping jaws 25.

[0071] As Figure 7 shown, the rubber wheel 40 of the auxiliary support wheel 35 is connected to a swing rod 37 through a bearing. The swing rod 37 is connected to a mounting seat through a shock-absorbing spring, a pin shaft. The encoder 39 is connected to the rubber wheel 40 to achieve the odometer function.

[0072] In one implementation, the auxiliary support wheel 35 is mounted on the longitudinal beam 9 of the upper vehicle body or the cross beam 10 of the upper vehicle body. The auxiliary support wheel 35 includes: a support wheel mounting seat 36, a swing rod 37, a damping spring 38, an encoder 39, and a rubber wheel 40.

[0073] The support wheel mounting seat 36 is connected to the longitudinal beam 9 of the upper vehicle body or the cross beam 10 of the upper vehicle body. One end of the swing rod 37 is rotatably connected to the support wheel mounting seat 36. The end of the swing rod 37 away from the support wheel mounting seat 36 is mounted with the rubber wheel 40 and the encoder 39. The encoder 39 is used to record the rotation of the rubber wheel 40. Both ends of the damping spring 38 are connected to the support wheel mounting seat 36 and the swing rod 37. The damping spring 38, the support wheel mounting seat 36, and the swing rod 37 form a triangle.

[0074] 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 robot for detecting the main cable of a bridge, characterized in that, Comprising: an upper vehicle body assembly (8), a lower vehicle body assembly (15), an assembly transmission part (44), a sensing and detecting part, and a shoe-holding assembly (21); the upper vehicle body assembly (8) and the lower vehicle body assembly (15) are slidably connected; the assembly transmission part (44) connects the upper vehicle body assembly (8) and the lower vehicle body assembly (15) to control the relative movement between the upper vehicle body assembly (8) and the lower vehicle body assembly (15); the sensing and detecting part is arranged on the upper vehicle body assembly (8) or the lower vehicle body assembly (15), and the sensing and detecting part is used for assembling and detecting sensors for the main cable of the bridge; a plurality of the shoe-holding assemblies (21) are respectively installed on the upper vehicle body assembly (8) and the lower vehicle body assembly (15), and the shoe-holding assemblies (21) are used for clamping and loosening the handrail rope (2) of the bridge; the shoe-holding assembly (21) includes: a shoe-holding motor (22), a clamping jaw (25), a shoe-holding motor mounting seat (28), a guide rod (31), a left slider (32), a right slider (33), and a bidirectional lead screw (34); the shoe-holding motor (22) is installed on the shoe-holding motor mounting seat (28), the left slider (32) and the right slider (33) move along the guide rod driven by the bidirectional lead screw (34), and the moving directions of the left slider (32) and the right slider (33) are opposite; the left slider (32) and the right slider (33) are connected to the clamping jaw (25), and the movement of the left slider (32) and the right slider (33) drives the opening and closing of the clamping jaw (25); the shoe-holding assembly (21) further includes: a synchronous belt (26) and a synchronous belt pulley (27), the output end of the shoe-holding motor (22) is connected to the synchronous belt pulley (27), and the synchronous belt pulley (27) drives the bidirectional lead screw (34) to rotate through the synchronous belt (26); the upper vehicle body assembly (8) includes: an upper vehicle body longitudinal beam (9), an upper vehicle body cross beam (10), a transmission support longitudinal beam (11), and a first shoe-holding mounting seat (14), and the first shoe-holding mounting seat (14) is arranged at the bottom of the upper vehicle body longitudinal beam (9) or the upper vehicle body cross beam (10) for installing the shoe-holding assembly (21); the lower vehicle body assembly (15) includes: a lower vehicle body short longitudinal beam (17), a lower vehicle body cross beam (18), a connecting plate (19), and a second shoe-holding mounting seat (16); the second shoe-holding mounting seat (16) is arranged at the bottom of the lower vehicle body short longitudinal beam (17) or the lower vehicle body cross beam (18) for installing the shoe-holding assembly (21); the upper vehicle body assembly (8) further includes an auxiliary support wheel (35), and the auxiliary support wheel (35) is installed on the upper vehicle body longitudinal beam (9) or the upper vehicle body cross beam (10); The auxiliary support wheel (35) includes: a support wheel mounting base (36), a swing rod (37), a damping spring (38), and a rubber wheel (40); the support wheel mounting base (36) is connected to the longitudinal beam (9) of the upper vehicle body or the cross beam (10) of the upper vehicle body, one end of the swing rod (37) is rotatably connected to the support wheel mounting base (36), the rubber wheel (40) is installed at the end of the swing rod (37) far from the support wheel mounting base (36), both ends of the damping spring (38) are connected to the support wheel mounting base (36) and the swing rod (37), and the damping spring (38), the support wheel mounting base (36), and the swing rod (37) form a triangle.

2. The robot for detecting the main cable of a bridge according to claim 1, wherein The shoe assembly (21) includes: a photoelectric switch (24); the photoelectric switch (24) is used to detect the handrail rope (2).

3. The robot for detecting the main cable of a bridge according to claim 1, wherein, The longitudinal beam (9) of the upper vehicle body and the cross beam (10) of the upper vehicle body are fixedly connected, the transmission support longitudinal beam (11) and the cross beam (10) of the upper vehicle body are fixedly connected, the transmission support longitudinal beam (11) is arranged on the longitudinal axis of the upper vehicle body assembly (8), and the assembly transmission part (44) is installed on the transmission support longitudinal beam (11).

4. The robot for detecting the main cable of a bridge according to claim 3, characterized in that, The short longitudinal beam (17) of the lower vehicle body and the cross beam (18) of the lower vehicle body are fixedly connected; the cross beam (18) of the lower vehicle body and the connecting plate (19) are fixedly connected; the connecting plate (19) is arranged on the longitudinal axis of the lower vehicle body assembly (15).

5. The robot for detecting the main cable of a bridge according to claim 4, wherein, The upper vehicle body assembly (8) includes: a stop block (12) and an upper vehicle body guide rail (13); the lower vehicle body assembly (15) includes an assembly slider (20). The upper vehicle body guide rail (13) is arranged at the bottom of the longitudinal beam (9) of the upper vehicle body, the assembly slider (20) is fixedly installed on the upper part of the short longitudinal beam (17) of the lower vehicle body, and the upper vehicle body guide rail (13) and the assembly slider (20) cooperate. The stop block (12) is arranged at both ends of the upper vehicle body guide rail (13) to limit the movement range of the lower vehicle body assembly (15) relative to the upper vehicle body assembly (8).

6. The robot for detecting the main cable of a bridge according to claim 1, wherein, The auxiliary support wheel (35) further includes: an encoder (39), the encoder (39) is coaxially installed with the rubber wheel (40), and the encoder (39) is used to record the rotation of the rubber wheel (40).

7. The robot for detecting the main cable of a bridge according to claim 1, characterized in that, The assembly transmission part (44) includes a sprocket (47), a chain (45), and a transmission motor (46); or the assembly transmission part (44) includes a pulley, a belt, and a transmission motor (46); or the assembly transmission part (44) includes a gear, a rack, and a transmission motor (46); or the assembly transmission part (44) includes an electric cylinder.

8. The robot for detecting the main cable of a bridge according to claim 1, wherein, The sensing and detection part includes a middle vision assembly (41) and a side vision assembly (42). The middle vision assembly (41) is installed at the bottom of the lower vehicle body assembly (15) and is used to detect the upper part of the main cable of the bridge. The side vision assembly (42) is installed on both sides of the lower vehicle body assembly (15) and extends downward to the lower vehicle body assembly (15) and is used to detect both sides and the bottom of the main cable of the bridge.

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