Suspension bridge cable system inspection robot

Abstract

This application provides a maintenance robot for a suspension bridge cable system, suitable for maintaining the main cable and suspenders of a suspension bridge. A mother robot and a daughter robot are connected by a traction rope. The daughter robot moves up and down along the suspenders by driving the traction rope. The mother robot includes a traction component and a first maintenance component, which is mounted on the traction component. The traction component cooperates with the handrail rope of the main cable, and the traction component drives the mother robot to move along the handrail rope. The first maintenance component is used to maintain the main cable. The daughter robot includes a base, a support structure, and a second maintenance component, which is mounted on the base. The second maintenance component is used to maintain the suspenders, and the support structure is used to attach to the suspenders. The mother robot uses the first maintenance component to maintain the main cable. The daughter robot drives the traction rope so that its second maintenance component can maintain the suspenders, achieving integrated inspection of the suspension bridge cable system.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a maintenance robot for a suspension bridge cable system. Background Technology

[0002] Suspension bridges have the largest span capacity of all bridge types, and currently, bridges with spans exceeding 1000 meters are generally suspension bridges. The main cables and suspenders are the primary load-bearing components of a suspension bridge. Due to the constant exposure to natural factors such as wind, rain, freezing, and variations in temperature and humidity, the protective layers of the main cables and suspenders age and crack. Moisture penetrates through these cracks, causing corrosion of the steel wires and accelerating wire breakage. To ensure the safe operation of the bridge, regular inspection and maintenance of the main cables and suspenders are necessary.

[0003] Currently, main cable inspection is still mainly done manually. The lower half of the main cable cannot be observed closely, resulting in blind spots, poor accuracy, low efficiency, and high safety hazards for high-altitude operations. The length of the slings ranges from a few meters to hundreds of meters. Existing cable-climbing robots cannot cross the vibration damping frame obstacle, and aerial work platforms cannot reach heights of hundreds of meters, resulting in a serious lack of means for close observation.

[0004] Existing technologies for the maintenance of suspension bridge cable systems include cable-climbing robots and cable-climbing robots. Cable-climbing robots are used to maintain the main cable, while cable-climbing robots are used to maintain the suspension cables. Therefore, existing technologies require the use of multiple robots to maintain suspension bridges, which is cumbersome. Summary of the Invention

[0005] This application provides a maintenance robot for a suspension bridge cable system, which is applicable to the maintenance of the main cable and suspenders of a suspension bridge.

[0006] The first aspect of this application provides a maintenance robot for a suspension bridge cable system, comprising: a mother robot and a daughter robot;

[0007] The mother robot and the child robot are connected by a traction rope, and the child robot moves up and down along the suspension cable by driving the traction rope.

[0008] The mother robot includes a traction component and a first maintenance component. The first maintenance component is installed on the traction component. The traction component works with the handrail rope of the main cable. The traction component drives the mother robot to move along the handrail rope. The first maintenance component is used to maintain the main cable.

[0009] The sub-robot includes a base, a support structure, and a second maintenance component. The support structure and the second maintenance component are mounted on the base. The second maintenance component is used to maintain the sling, and the support structure is used to climb the sling to stabilize the sub-robot's posture.

[0010] Based on the first aspect of the embodiments of this application, in the first implementation of the first aspect of the embodiments of this application, the sub-robot further includes a base slide rail;

[0011] The base and support structure are connected by a base slide rail, which allows the support structure to slide on the rail. The extension direction of the base slide rail is perpendicular to the plane containing the sling and the main cable.

[0012] Based on the first aspect of the embodiments of this application or the first implementation of the first aspect, in the second implementation of the first aspect of the embodiments of this application, the sub-robot further includes a base motor, a sliding transmission bar, and a sliding transmission wheel;

[0013] The base motor is fixedly installed on the base. The output end of the base motor is connected to the sliding transmission wheel. The two ends of the sliding transmission bar are fixedly connected to the support structure. The sliding transmission bar matches the sliding transmission wheel, so that the base motor can drive the support structure to slide on the slide rail.

[0014] Based on any one of the first aspect, the first implementation and the second implementation of the embodiments of this application, in the third implementation of the first aspect of this application, the support structure includes a synchronous telescopic component and two support arms;

[0015] Two support arms are fixedly installed at both ends of the synchronous telescopic assembly. The two ends of the synchronous telescopic assembly can move away from or towards each other, so that the two support arms move away from or towards each other.

[0016] Based on the first aspect of the embodiments of this application, and any one of the first to third implementations of the first aspect, in the fourth implementation of the first aspect of the embodiments of this application, the synchronous telescopic component includes: a synchronous telescopic motor, a dual-output shaft reducer, a first synchronous telescopic lead screw, a second synchronous telescopic lead screw, a synchronous telescopic mounting base, a first telescopic slider, a second telescopic slider, a first synchronous telescopic frame, and a second synchronous telescopic frame;

[0017] The dual-output shaft reducer, the first synchronous telescopic screw, the second synchronous telescopic screw, the first telescopic slider and the second telescopic slider are installed in the synchronous telescopic mounting base, and the first synchronous telescopic frame and the second synchronous telescopic frame are respectively installed at both ends of the outer side of the synchronous telescopic mounting base.

[0018] The output end of the synchronous telescopic motor is connected to the input end of the dual-output shaft reducer. The two output ends of the dual-output reducer are respectively connected to the first synchronous telescopic lead screw and the second synchronous telescopic lead screw. The first telescopic slider moves on the first synchronous telescopic lead screw, and the second telescopic slider moves on the second synchronous telescopic lead screw. The first and second synchronous telescopic lead screws rotate in opposite directions. The first telescopic slider and the first synchronous telescopic frame are fixedly connected, and the second telescopic slider and the second synchronous telescopic frame are fixedly connected, so that the synchronous telescopic motor drives the first and second synchronous telescopic frames to move in opposite directions or towards each other relative to the base along the direction parallel to the main cable.

[0019] Based on any one of the first to fourth implementations of the embodiments of this application, in the fifth implementation of the first aspect of this application, at least three winches are installed on the base;

[0020] Of the at least three winches, at least one is not collinear with the other winches.

[0021] Based on any one of the first to fifth implementations of the embodiments of this application, in the sixth implementation of the first aspect of the embodiments of this application, the base is provided with a counterweight block;

[0022] The counterweight is used to ensure that the projection of the sub-robot's center of gravity in the vertical direction lies within the polygon with the winch as its vertex.

[0023] Based on any one of the first to sixth implementations of the embodiments of this application, in the seventh implementation of the first aspect of this application, the support arm includes a contact wheel, a wheel frame, a boom, and a support arm motor;

[0024] At least two contact wheels are installed on one side of a wheel frame, and the center of the wheel frame is rotatably connected to the boom. The support boom motor drives the wheel frame to rotate around the boom, so that at least two contact wheels on a wheel frame can attach to or detach from the sling.

[0025] Based on any one of the first to seventh implementations of the embodiments of this application, in the eighth implementation of the first aspect of the embodiments of this application, the support arm further includes a support arm transmission component;

[0026] A boom is equipped with multiple wheel frames, and the boom motor drives multiple wheel frames simultaneously through the boom transmission components.

[0027] Based on any one of the first to eighth implementations of the embodiments of this application, in the ninth implementation of the first aspect of the embodiments of this application, the mother robot further includes a gate-shaped support component;

[0028] The top of the portal support component is a mounting frame, and a lifting outrigger assembly is installed on each side of the mounting frame. The lifting outrigger assembly is equipped with maintenance equipment for the maintenance of the main cable.

[0029] Based on any one of the first to ninth implementations of the embodiments of this application, in the tenth implementation of the first aspect of this application, the lifting outrigger assembly includes a support frame, a lifting guide rail, a lifting slider, a support, a support motor, a support transmission wheel, a support transmission bar, and maintenance equipment is installed on the support.

[0030] The lifting guide rail is fixedly installed on the support frame and extends vertically. The lifting slider slides in cooperation with the lifting guide rail. The support is fixedly connected to the lifting slider. The support motor is fixedly installed on the support. The two ends of the support transmission bar are fixed to the support frame. The output end of the support motor is equipped with the support transmission wheel. The support transmission wheel cooperates with the support transmission bar, so that the support motor drives the support to move up and down.

[0031] Based on any one of the first to tenth implementations of the embodiments of this application, in the eleventh implementation of the first aspect of the embodiments of this application, the mother robot further includes a central maintenance component;

[0032] The central maintenance component is installed at the bottom of the central frame. The central maintenance component can extend and retract in the vertical direction. Maintenance equipment is installed below the central maintenance component to maintain the main cable.

[0033] Based on any one of the first to eleventh implementations of the first aspect of the embodiments of this application, in the twelfth implementation of the first aspect of the embodiments of this application, the central maintenance component includes a central base plate, a central upper guide rail, a central lower guide rail, a scissor lift mechanism, a central connecting rod, a central motor, a central transmission wheel, and a central transmission bar;

[0034] The upper guide rail is mounted on the mounting frame, and the lower guide rail is set on the middle base plate. The upper and lower guide rails are parallel. The upper part of the scissor mechanism moves along the upper guide rail, and the lower part of the scissor mechanism moves along the lower guide rail.

[0035] The scissor lift mechanisms are symmetrically arranged on both sides of the central base plate. The scissor lift mechanisms are connected by a central connecting rod so that each scissor lift mechanism can extend and retract synchronously.

[0036] The central motor is mounted on the central base plate. The output end of the central motor is connected to the central transmission wheel, which cooperates with the central transmission bar. Both ends of the central transmission bar are fixedly connected to the central connecting rod. The central motor drives the central connecting rod to drive the scissor mechanism to extend and retract, thereby controlling the distance between the central base plate and the mounting frame.

[0037] Based on any one of the first to twelfth implementations of the first aspect of the present application, in the thirteenth implementation of the first aspect of the present application, the mother robot further includes at least two trajectory-changing components.

[0038] The track-changing component moves along the handrail rope under the drive of the traction component;

[0039] Each track-changing component includes: a first clamping shoe assembly, a track-changing motor, and a second clamping shoe assembly. The track-changing motor drives the first clamping shoe assembly and the second clamping shoe assembly to move towards each other or away from each other, or the track-changing motor controls the first clamping shoe assembly and the second clamping shoe assembly to remain relatively stationary.

[0040] The first boot assembly moves along the first handrail rope, and the second boot assembly moves along the second handrail rope.

[0041] Based on any one of the first to thirteenth implementations of the first aspect of the embodiments of this application, in the fourteenth implementation of the first aspect of the embodiments of this application, each track-changing component further includes: a first track-changing slider, a first track-changing screw, a dual-output shaft reducer, a second track-changing slider, and a second track-changing screw;

[0042] The output end of the variable track motor is connected to the input end of the dual output shaft reducer. The first output shaft of the dual output shaft reducer is connected to the first variable track screw. The first variable track slider moves on the first variable track screw. The first shoe assembly and the first variable track slider are fixedly connected. The second output shaft of the dual output shaft reducer is connected to the second variable track screw. The second variable track slider moves on the second variable track screw. The second shoe assembly and the second variable track slider are fixedly connected.

[0043] The first and second guide screws have opposite thread directions.

[0044] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0045] This application consists of a mother robot and a daughter robot system. The mother robot is responsible for inspecting the main cable and storing and releasing the daughter robot, while the daughter robot is responsible for repairing the sling.

[0046] The traction component of the mother robot uses the handrail rope as a climbing track and employs the first inspection component to inspect the main cable. The daughter robot and the mother robot are connected by a traction rope, and the mother robot uses the first inspection component to inspect the main cable. When the mother robot reaches the cable clamp, it releases the daughter robot, which then drives the traction rope to enable its second inspection component to inspect the suspenders, achieving integrated inspection of the suspension bridge's cable system. Attached Figure Description

[0047] Figure 1 This is a diagram illustrating the working state of the suspension bridge cable system maintenance robot according to an embodiment of this application.

[0048] Figure 2 This is a perspective view of a sub-robot according to an embodiment of this application;

[0049] Figure 3 This is another perspective view of the sub-robot according to an embodiment of this application;

[0050] Figure 4 This is a perspective view of the synchronous telescopic component according to an embodiment of this application;

[0051] Figure 5 This is an internal diagram of the synchronous telescopic component according to an embodiment of this application;

[0052] Figure 6 This is a perspective view of a support arm according to an embodiment of this application;

[0053] Figure 7 This is another perspective view of the support arm according to an embodiment of this application;

[0054] Figure 8 This is a diagram showing the working state of the mother robot according to an embodiment of this application;

[0055] Figure 9 This is a perspective view of the mother robot according to an embodiment of this application;

[0056] Figure 10 This is a perspective view of a portal support component according to an embodiment of this application;

[0057] Figure 11 This is a perspective view of the lifting outrigger assembly according to an embodiment of this application;

[0058] Figure 12 This is an internal view of the lifting outrigger assembly according to an embodiment of this application;

[0059] Figure 13 This is a perspective view of the central maintenance component in an embodiment of this application;

[0060] Figure 14 This is an assembly drawing of the maintenance robot for the suspension bridge cable system according to an embodiment of this application;

[0061] Figure 15 This is a perspective view of the traction component according to an embodiment of this application;

[0062] Figure 16 This is a perspective view of the track-changing component according to an embodiment of this application;

[0063] Figure 17 This is a diagram showing the internal structure of the track-changing component according to an embodiment of this application;

[0064] Figure 18 This is a bottom view of the track-changing component according to an embodiment of this application;

[0065] Figure 19 This is a rear view of the track-changing component according to an embodiment of this application;

[0066] Figure 20 This is a side view of the track-changing component according to an embodiment of this application;

[0067] Figure 21 This is a perspective view of the boot assembly according to an embodiment of this application;

[0068] Figure 22 This is a diagram showing the internal structure of the boot assembly according to an embodiment of this application;

[0069] Figure 23This is a perspective view of the support wheel assembly according to an embodiment of this application;

[0070] Figure label:

[0071] 1-Mother robot;

[0072] 11-Traction component; 12-Changing track component; 13-Middle maintenance component; 14-Gantry support component;

[0073] 141-Mounting frame; 142-Lifting outrigger assembly; 143-Maintenance equipment; 1421-Support frame; 1422-Lifting guide rail mounting base; 1423-Outrigger drive bar; 1424-Lifting guide rail; 1425-Outrigger; 1426-Wheel caster; 1427-Outrigger drive wheel; 1428-Outrigger reducer; 1429-Outrigger motor;

[0074] 131-Upper central rail; 132-Bearing; 133-Pin; 134-Outer connecting rod; 135-Central base plate; 136-Central reducer; 137-Central motor; 138-Central transmission bar; 139-Lower central rail; 1310-Sprocket seat; 1311-Central connecting rod; 1312-Inner connecting rod;

[0075] 111-Telescopic frame assembly; 112-Fixed frame assembly; 113-Slide rail; 114-Chain; 115-Peristaltic motor; 116-First coupling; 117-First reducer; 118-Sprocket;

[0076] 121-U-shaped seat; 122-Trajectory changer motor; 123-Support wheel assembly; 124-Shoe assembly; 125-Connecting seat; 126-First trajectory changer slider; 127-Second trajectory changer slider; 128-Second coupling; 129-Dual output shaft reducer; 1210-Slider guide rail assembly; 1211-First end cover; 1212-Bearing seat; 1213-Universal joint; 1214-Pin; 1215-First trajectory changer screw; 1216-Second trajectory changer screw;

[0077] 1231 - Support wheel mounting base; 1232 - Swing arm; 1233 - Vibration damping spring; 1234 - Encoder; 1235 - Support wheel;

[0078] 1241-Shoe-mounted motor; 1242-Shoe-mounted motor mounting base; 1243-Synchronous pulley; 1244-Synchronous belt; 1245-Gripper; 1246-Photoelectric switch; 1247-Top cover; 1248-Second end cover; 1249-Guide rod; 12410-First gripper slider; 12411-Second gripper slider; 12412-Bidirectional lead screw;

[0079] 2-Sub-robot;

[0080] 21-Base; 22-Counterweight; 23-Traction rope; 24-Winder; 25-Support arm; 26-Base slide rail; 27-Base drive bar; 28-Synchronous telescopic assembly; 29-Base drive wheel; 210-Base reducer; 211-Base motor;

[0081] 281-Synchronous telescopic frame; 282-Synchronous telescopic mounting base; 283-Synchronous telescopic motor; 284-Synchronous telescopic slide rail; 285-Telescopic slider; 286-First synchronous telescopic lead screw; 287-Bearing seat; 288-Second synchronous telescopic lead screw; 289-Bearing end cover;

[0082] 251-Contact wheel; 252-Wheel frame; 253-Boom; 254-Support boom motor; 255-Support boom reducer; 256-Support boom drive bar; 257-Support boom drive wheel;

[0083] 3-Main cable; 4-Lifting sling; 5-Handrail rope; 6-Upper railing rope; 7-Lower railing rope; 8-Sling clamp; 9-Post; 10-Horizontal brace. Detailed Implementation

[0084] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0085] like Figure 1 As shown, this application provides a maintenance robot for a suspension bridge cable system, including: a mother robot 1 and a daughter robot 2;

[0086] The mother robot 1 and the daughter robot 2 are connected by a traction rope 23. The daughter robot 2 moves up and down along the suspension cable 4 by driving the traction rope 23. There can be one, two, or more daughter robots 2. When there is one daughter robot 2, it is positioned on one side of the suspension cable 4; when there are two daughter robots 2, they are positioned on both sides of the suspension cable 4. The traction rope 23 between the mother robot 1 and the daughter robot 2 is wound up or down, changing the height difference between the daughter robot 2 and the mother robot 1.

[0087] The mother robot 1 includes a traction component 11 and a first maintenance component. The first maintenance component is installed on the traction component 11. The traction component 11 cooperates with the handrail rope 5 of the main cable 3. The traction component 11 drives the mother robot 1 to move along the handrail rope 5. The first maintenance component is used to maintain the main cable 3. The handrail rope 5 can also be called the track of the mother robot 1.

[0088] The sub-robot 2 includes a base 21, a support structure, and a second maintenance component. The support structure and the second maintenance component are mounted on the base 21. The second maintenance component is used to maintain the sling 4, and the support structure is used to climb the sling 4 to stabilize the sub-robot 2's posture. Maintenance can be performed solely on inspection, or repair can be carried out after inspection. The maintenance component includes vision sensors or maintenance equipment. The support structure can climb onto or detach from the sling 4. When the support structure is attached to the sling 4, the sub-robot 2 can remain stable relative to the sling 4, making maintenance more reliable. When the support structure detaches from the sling 4, the sub-robot 2 can move flexibly along the main cable 3 with the mother robot 1, moving from one sling 4 to another, thus enabling maintenance of each sling 4.

[0089] This application consists of a mother robot 1 and a daughter robot 2 forming a mother-daughter robot system. The mother robot 1 is responsible for inspecting the main cable 3 and storing and releasing the daughter robot 2, while the daughter robot 2 is responsible for inspecting the sling 4.

[0090] The traction component 11 of the mother robot 1 uses the handrail rope 5 as a climbing track and employs the first maintenance component to inspect the main cable 3. The daughter robot 2 and the mother robot 1 are connected by a traction rope 23, and the mother robot 1 uses the first maintenance component to inspect the main cable 3. When the mother robot 1 reaches the cable clamp 8, it releases the daughter robot 2. The daughter robot 2 then drives the traction rope 23 to enable its second maintenance component to inspect the suspension cable 4, thus achieving integrated inspection of the suspension bridge cable system.

[0091] like Figure 2 As shown, in one implementation of this application embodiment, the sub-robot 2 further includes a base 21 and a slide rail 113;

[0092] The base 21 and the support structure are connected by a slide rail 113 on the base 21. The support structure can slide on the slide rail 113, and the extension direction of the slide rail 113 is perpendicular to the plane containing the sling 4 and the main cable 3. When the sub-robot 2 arrives at the side of a sling 4 with the mother robot 1, the support structure slides along the slide rail 113 on the base 21 to approach the sling 4 and achieves attachment to the sling 4. After the sub-robot 2 has finished inspecting a sling 4, the support structure slides along the slide rail 113 on the base 21 to move away from the sling 4 and achieves detachment from the sling 4. The direction of the main cable 3 axis is the front-back direction, the direction of the sling 4 axis is the up-down direction, and the extension direction of the slide rail 113 is the left-right direction.

[0093] like Figure 3As shown, in one implementation of this application embodiment, the sub-robot 2 further includes a base 21 motor, a sliding transmission bar, and a sliding transmission wheel;

[0094] A motor is fixedly mounted on base 21. The output end of the motor is connected to a sliding transmission wheel. Both ends of the sliding transmission bar are fixedly connected to the support structure. The sliding transmission bar and the sliding transmission wheel are matched, enabling the motor of base 21 to drive the support structure to slide on slide rail 113. The sliding transmission bar and the sliding transmission wheel can be a chain 114 and a sprocket 118, or a rack and pinion, or a belt and pulley, etc., and there are no specific limitations. Here, we take a chain 114 and a sprocket 118 as an example. In order to make the chain 114 and the support structure form a closed loop, a sprocket seat 1310 and a sprocket 118 can be set on base 21 to change the direction of the chain 114. Both ends of the chain 114 are fixed on the synchronous telescopic assembly 28. The sprocket 118 is driven by a motor and a reducer, so that the synchronous telescopic assembly 28 can move along the slide rail 113 of base 21.

[0095] like Figure 4 As shown, in one implementation of this application embodiment, the support structure includes a synchronous telescopic component 28 and two support arms 25;

[0096] Two support arms 25 are fixedly installed at both ends of the synchronous telescopic assembly 28. The two ends of the synchronous telescopic assembly 28 can move away from or towards each other, causing the two support arms 25 to move away from or towards each other. The direction of the main cable 3 axis is the front-to-back direction, the direction of the sling 4 axis is the up-down direction, and the extension direction of the slide rail 113 is the left-to-right direction. The two support arms 25 are installed on the base 21 in the front-to-back direction and extend to one side in the left-to-right direction. The synchronous telescopic assembly 28 can extend and retract in the front-to-back direction. Optionally, the two ends of the synchronous telescopic assembly 28 can move away from or towards each other relative to the base 21 in a direction parallel to the plane containing the main cable 3 and the sling 4, and perpendicular to the sling 4.

[0097] like Figure 5 As shown, in one implementation of this application embodiment, the synchronous telescopic assembly 28 includes: a synchronous telescopic motor 283, a dual output shaft reducer 129, a first synchronous telescopic lead screw 286, a second synchronous telescopic lead screw 288, a synchronous telescopic mounting base 282, a first telescopic slider 285, a second telescopic slider 285, a first synchronous telescopic frame 281, and a second synchronous telescopic frame 281.

[0098] The dual output shaft reducer 129, the first synchronous telescopic lead screw 286, the second synchronous telescopic lead screw 288, the first telescopic slider 285 and the second telescopic slider 285 are installed in the synchronous telescopic mounting base 282, and the first synchronous telescopic frame 281 and the second synchronous telescopic frame 281 are respectively installed at both ends of the outer side of the synchronous telescopic mounting base 282.

[0099] The output end of the synchronous telescopic motor 283 is connected to the input end of the dual-output shaft reducer 129. The two output ends of the dual-output reducer are respectively connected to the first synchronous telescopic lead screw 286 and the second synchronous telescopic lead screw 288. The first telescopic slider 285 moves on the first synchronous telescopic lead screw 286, and the second telescopic slider 285 moves on the second synchronous telescopic lead screw 288. The first synchronous telescopic lead screw 286 and the second synchronous telescopic lead screw 288 rotate in opposite directions. The first telescopic slider 285 and the first synchronous telescopic frame 281 are fixedly connected, and the second telescopic slider 285 and the second synchronous telescopic frame 281 are fixedly connected, so that the synchronous telescopic motor 283 drives the first synchronous telescopic frame 281 and the second synchronous telescopic frame 281 to move relative to the base 21 in a direction parallel to the main cable 3, either in opposite directions or towards each other. The direction of the main cable 3 or the direction of the axis of the main cable 3 refers to the projection direction of the main cable 3 or the axis of the main cable 3 onto the horizontal plane.

[0100] Optionally, the base 21 slide rail 113 is fixed on the base 21, and the support arm 25 is connected by screws and synchronous telescopic assembly 28.

[0101] Optionally, the synchronous telescopic frame 281 is connected to the slider seat via screws, and the slider seat is connected to the synchronous telescopic lead screw via screws. Both ends of the synchronous telescopic lead screw are connected to the synchronous telescopic mounting base 282 via bearings 132, bearing 132 seats, and bearing 132 end caps. A slide rail 113 is provided on the side wall of the synchronous telescopic mounting base 282, and the synchronous telescopic frame 281 is connected to the slide rail 113 via the slider. The synchronous telescopic frame 281 is connected to the slider via screws, and the synchronous telescopic motor 283 synchronously drives the synchronous telescopic lead screw via a reducer, thus moving the synchronous telescopic frame 281.

[0102] Optionally, the inner side of the top surface of the synchronous telescopic frame 281 is fixedly connected to the telescopic slider 285. The synchronous telescopic frame 281 has no bottom surface, allowing the bottom surface of the synchronous telescopic mounting base 282 to fixally mount the slider. The synchronous telescopic mounting base 282 is slidably connected to the slide rail 113 of the base 21.

[0103] like Figures 2 to 3 As shown, in one implementation of this application embodiment, at least three winches 24 are installed on the base 21;

[0104] Of the at least three winches 24, at least one is not collinear with the other winches 24. If there are only three winches 24, then the three winches 24 are located at the three vertices of a triangle; if there are more than three winches 24, then at least three of them are located at the three vertices of a triangle. That is to say, it is not allowed for all winches 24 to be located on the same straight line, because if all winches 24 are located on the same straight line, it will be difficult for the sub-robot 2 to maintain balance.

[0105] It should be noted that the base 21 may be equipped with only one or two winches 24, or more than three winches 24, without any specific restrictions. Each winch 24 may control one or more traction ropes 23, without any specific restrictions.

[0106] like Figure 2 As shown, in one implementation of this application embodiment, the base 21 is provided with a counterweight block 22;

[0107] The counterweight 22 is used to ensure that the vertical projection of the sub-robot 2's center of gravity lies within a polygon with the winch 24 as its vertex. The positions of the counterweight 22, its weight, and the winch 24 should be set so that the sub-robot 2's center of gravity remains within the polygon with the winch 24 as its vertex, whether it is clinging to or detaching from the support structure and the sling 4, to prevent the sub-robot 2 from tipping over.

[0108] Optionally, the traction rope 23 is connected to the base 21 via the winch 24 and arranged in a triangular pattern; the counterweight 22 is fixed to the base 21 by screws, and the center of gravity of the sub-robot 2 is adjusted to be within the triangle formed by the three winches 24 by adjusting the counterweight 22.

[0109] Optionally, the counterweight 22 can be replaced by a fixed-weight movable mechanism.

[0110] like Figures 6 to 7 As shown, in one implementation of this application embodiment, the support arm 25 includes a contact wheel 251, a wheel frame 252, a boom 253, and a support arm 25 motor;

[0111] At least two contact wheels 251 are installed on one side of a wheel frame 252. The center of the wheel frame 252 is rotatably connected to the boom 253. The motor of the support boom 25 drives the wheel frame 252 to rotate around the boom 253, so that at least two contact wheels 251 on the wheel frame 252 can attach to or detach from the sling 4.

[0112] Two, three, or more contact wheels 251 can be installed on one side of a wheel frame 252; here, we take two contact wheels 251 installed on one wheel frame 252 as an example. When the support arm 25 needs to climb the sling 4, firstly, the base 21 motor and the synchronous telescopic motor 283 drive the support arm 25 to the side of the sling 4, at which point the two contact wheels 251 on the same wheel frame 252 are located on both sides of the sling 4; then, the support arm 25 motor drives the wheel frame 252 to rotate, causing the two contact wheels 251 on the same wheel frame 252 to clamp the sling 4. When the support arm 25 needs to detach from the sling 4, firstly, the support arm 25 motor drives the wheel frame 252 to rotate, causing the two contact wheels 251 on the same wheel frame 252 to release the sling 4; then, the synchronous telescopic motor 283 and the base 21 motor drive the support arm 25 to retract towards the base 21.

[0113] like Figures 6 to 7 As shown, in one implementation of this application embodiment, the support arm 25 further includes a support arm 25 transmission component;

[0114] A boom 253 is equipped with multiple wheel frames 252, and the motor of the support boom 25 drives the multiple wheel frames 252 simultaneously through the transmission component of the support boom 25.

[0115] A boom 253 is equipped with multiple wheel frames 252, increasing the number of contact wheels 251 that come into contact with the sling 4, thus enabling more stable climbing of the sling 4. Simultaneously, to ensure synchronized movement of all wheel frames 252, a single motor on the same boom 253 drives all wheel frames 252. A transmission mechanism on the boom 25 connects the motor to all wheel frames 252 on the same boom 25. For example, the transmission mechanism might consist of a chain 114 and sprockets 118, with each sprocket 118 connected to one wheel frame 252. The chain 114 connects all the sprockets 118, and when the motor drives the chain 114, all wheel frames 252 rotate synchronously.

[0116] Optionally, the contact wheel 251 is connected to the boom 253 via the wheel frame 252. A sprocket 118 is installed on the other side of the wheel frame 252. The motor of the support boom 25 drives the chain 114 and the sprocket 118 to move through the reducer, so as to realize the swing of the contact wheel 251 and the boom 253, thereby realizing the pre-tensioning of the connection between the contact wheel 251 and the sling 4.

[0117] like Figures 9 to 10 As shown, in one implementation of this application embodiment, the mother robot 1 further includes a portal-shaped support component 14;

[0118] The top of the portal support component 14 is a mounting frame 141. A lifting outrigger assembly 142 is installed on each of the lower sides of the mounting frame 141. The lifting outrigger assembly 142 is equipped with maintenance equipment 143 for maintenance of the main cable 3.

[0119] The lifting outrigger assembly 142 can extend and retract vertically, driving the maintenance equipment 143 to rise and fall vertically. When the lifting outrigger assembly 142 extends, the maintenance equipment 143 lowers; when the lifting outrigger assembly 142 retracts, the maintenance equipment 143 rises. The maintenance equipment 143 can rise and fall flexibly, allowing the mother robot 1 to inspect both the upper and lower surfaces of the main cable 3. The maintenance equipment 143 may include a robotic arm, detectors, and cameras. The end effector of the robotic arm carries inspection or maintenance tools to perform visual inspection of the main cable 3 and sling 4 or to repair defects.

[0120] Optionally, the two lifting outrigger components are fixed to the mounting frame 141 with screws, and the robotic arm is fixed to the support 1425 with screws.

[0121] like Figures 11 to 12As shown, in one implementation of this application embodiment, the lifting outrigger assembly 142 includes a support frame 1421, a lifting guide rail 1424, a lifting slider, a support 1425, a support 1425 motor, a support transmission wheel 1427, a support transmission bar 1423, and a maintenance device 143 installed on the support 1425.

[0122] The lifting guide rail 1424 is fixedly installed on the support frame 1421. The lifting guide rail 1424 extends vertically. The lifting slider slides in cooperation with the lifting guide rail 1424. The support 1425 is fixedly connected to the lifting slider. The motor of the support 1425 is fixedly installed on the support 1425. The two ends of the support transmission bar 1423 are fixed to the support frame 1421. The output end of the motor of the support 1425 is equipped with the support transmission wheel 1427. The support transmission wheel 1427 cooperates with the support transmission bar 1423, so that the motor of the support 1425 drives the support 1425 to move up and down.

[0123] A lifting outrigger assembly 142 has at least two lifting guide rails 1424; here, we take an example of a lifting outrigger assembly 142 with three lifting guide rails 1424. Each lifting guide rail 1424 contains at least one lifting slider; here, we take an example of each lifting guide rail 1424 containing two lifting sliders. Setting multiple lifting guide rails 1424 and multiple lifting sliders in each lifting guide rail 1424 can improve the stability of the support 1425. The lifting guide rails 1424 are located in front of, behind, and on the outside of the support 1425; the outside refers to the side of the support 1425 away from the main cable 3. The support 1425 and each lifting guide rail 1424 are slidably connected by two lifting sliders. The motor drives the support 1425 to slide along the lifting guide rails 1424, thereby changing the height of the maintenance equipment 143 on the support 1425 relative to the main cable 3, allowing the maintenance equipment 143 to perform maintenance on the upper and lower surfaces of the main cable 3.

[0124] The support drive bar 1423 and the support drive wheel 1427 can be a chain 114 and a sprocket 118, or a rack and pinion, or a belt and a pulley, etc., and there are no specific restrictions.

[0125] Optionally, a slider guide rail mounting seat is provided on the support frame 1421, and one slider guide rail mounting seat is equipped with one lifting guide rail 1424. The lifting guide rail 1424 is fixed to the support frame 1421 by the slider guide rail mounting seat and screws, and the support 1425 is connected to the lifting slider by screws. Taking the support drive bar 1423 and support drive wheel 1427 as a chain 114 and sprocket 118 as an example, the two ends of the chain 114 are fixed to the upper and lower ends of the slider guide rail mounting seat. The motor of the support 1425, the reducer of the support 1425, and the sprocket 118 are fixed to the support 1425 by screws. The motor of the support 1425 drives the reducer of the support 1425, which in turn drives the sprocket 118 to realize the up and down movement of the support 1425.

[0126] Optionally, casters 1426 are installed at the bottom of the support frame 1421 to facilitate pushing the mother robot 1 on the ground. The casters 1426 are fixed to the bottom of the support frame 1421 with screws.

[0127] like Figure 9 As shown, in one implementation of this application embodiment, the mother robot 1 further includes a central maintenance component 13;

[0128] A central maintenance component 13 is installed at the lower center of the mounting frame 141. The central maintenance component 13 is capable of extending and retracting in the vertical direction. Maintenance equipment 143 is installed below the central maintenance component 13 to maintain the main cable 3.

[0129] The installation of the central maintenance component 13 allows for the inspection of the upper surface of the main cable 3. The central maintenance component 13 extends and retracts vertically, facilitating the mother robot 1's passage over obstacles. The traction component 11 and the central maintenance component 13 are fixed to the portal support component 14 with screws.

[0130] like Figure 13 As shown, in one implementation of this application embodiment, the central maintenance component 13 includes a central base plate 135, a central upper guide rail, a central lower guide rail, a scissor lift mechanism, a central connecting rod 1311, a central motor 137, a central transmission wheel, and a central transmission bar 138.

[0131] The upper guide rail is installed on the mounting frame 141, and the lower guide rail is set on the middle base plate 135. The upper and lower guide rails are parallel. The upper part of the scissor mechanism moves along the upper guide rail, and the lower part of the scissor mechanism moves along the lower guide rail.

[0132] A scissor lift mechanism is symmetrically arranged on both sides of the central base plate 135. These mechanisms are connected by a central connecting rod 1311 to allow for synchronous extension and retraction. The scissor lift mechanisms can be located on the left and right sides or the front and rear sides of the central base plate 135; here, the left and right sides are used as an example. Each scissor lift mechanism can have one or more pairs of connecting rods; here, one pair of connecting rods is used as an example. A pair of connecting rods includes an inner connecting rod 1312 and an outer connecting rod 134. The lower end of the inner connecting rod 1312 is hinged to the lower central rail 139, and the upper end of the inner connecting rod 1312 is slidably connected to the upper central rail 131 via a bearing 132. The upper end of the outer connecting rod 134 is hinged to the upper central rail 131, and the lower end of the outer connecting rod 134 is slidably connected to the lower central rail 139 via a bearing 132. The central connecting rod 1311 connects the lower ends of the two outer connecting rods 134, enabling the two scissor lift mechanisms to extend and retract synchronously.

[0133] The central motor 137 is mounted on the central base plate 135. The output end of the central motor 137 is connected to the central transmission wheel. The central transmission wheel cooperates with the central transmission bar 138. The two ends of the central transmission bar 138 are fixedly connected to the central connecting rod 1311. The central motor 137 drives the central connecting rod 1311 to drive the scissor mechanism to extend and retract, so as to control the distance between the central base plate 135 and the mounting frame 141.

[0134] The central motor 137 can be installed either on the central base plate 135 or on the mounting frame 141; there are no specific restrictions.

[0135] The central drive bar 138 and the central drive wheel can be a chain 114 and a sprocket 118, or a rack and pinion, or a belt and pulley, etc., and there are no specific limitations. Taking the central drive bar 138 and the central drive wheel as a chain 114 and a sprocket 118 as an example, in order to form a closed loop between the chain 114 and the central connecting rod 1311, a sprocket seat 1310 and a sprocket 118 can be provided on the central base plate 135 to change the direction of the chain 114. Both ends of the chain 114 are fixed to the central connecting rod 1311. The central motor 137 and the central reducer 136 are fixed to the central base plate 135. The sprocket 118 is connected to the sprocket seat 1310 via a pin 133. The sprocket seat 1310 is fixed to the central base plate 135 with screws. The central base is raised and lowered by rotating the sprocket 118 driven by the central motor 137 and the central reducer 136.

[0136] Optionally, the inner connecting rod 1312 and the outer connecting rod 134 of the scissor lift mechanism are connected by a pin 133. The inner connecting rod 1312 and the upper central guide rail are connected by a bearing 132 as a slider, and the inner connecting rod 1312 and the bearing 132 are connected by a pin 133. The outer connecting rod 134 and the lower central guide rail are connected by a bearing 132 as a slider, and the outer connecting rod 134 and the bearing 132 are connected by a pin 133. The central base plate 135 is connected to the lower central guide rail by screws, and the central connecting rod 1311 is connected to the outer connecting rod 134 by screws.

[0137] like Figure 14 As shown, in one implementation of this application embodiment, the mother robot 1 further includes at least two trajectory-changing components 12; a modular design is used to facilitate assembly and disassembly.

[0138] The track-changing component 12 moves along the track under the drive of the traction component 11. The driving component enables the entire suspension bridge cable system maintenance robot to move along the track, while the track-changing component 12 enables the entire suspension bridge cable system maintenance robot to adapt to changing track gauges. The suspension bridge cable system maintenance robot uses the main cable 3 and handrail ropes 5 as its track. The spacing of the handrail ropes 5 on the same main cable 3 is generally constant, while the spacing of the handrail ropes 5 on different main cables 3 may be different. The handrail ropes 5 can also be referred to as the track.

[0139] Each track-changing component 12 includes: a first clamping shoe assembly 124, a track-changing motor 122, and a second clamping shoe assembly 124. The track-changing motor 122 drives the first clamping shoe assembly 124 and the second clamping shoe assembly 124 to move towards each other or away from each other, or the track-changing motor 122 controls the first clamping shoe assembly 124 and the second clamping shoe assembly 124 to remain relatively stationary. When the track-changing motor rotates forward or reverse, the first clamping shoe assembly 124 and the second clamping shoe assembly 124 move closer to each other or further away from each other. When the track-changing motor 122 is stationary, the first clamping shoe assembly 124 and the second clamping shoe assembly 124 are relatively stationary.

[0140] The first gripper assembly 124 moves along the first track, and the second gripper assembly 124 moves along the second track. The gripper assemblies 124 can grip and release the tracks, enabling the suspension bridge cable system maintenance robot to stably cooperate with the tracks.

[0141] like Figures 16 to 20 As shown, in one implementation of this application, each track-changing component 12 further includes: a first track-changing slider 126, a first track-changing lead screw 1215, a dual output shaft reducer 129, a second track-changing slider 127, and a second track-changing lead screw 1216.

[0142] The output end of the track-changing motor 122 is connected to the input end of the dual-output-shaft reducer 129. The first output shaft of the dual-output-shaft reducer 129 is connected to the first track-changing lead screw 1215, and the first track-changing slider 126 moves on the first track-changing lead screw 1215. The first shoe assembly 124 and the first track-changing slider 126 are fixedly connected. The second output shaft of the dual-output-shaft reducer 129 is connected to the second track-changing lead screw 1216, and the second track-changing slider 127 moves on the second track-changing lead screw 1216. The second shoe assembly 124 and the second track-changing slider 127 are fixedly connected. The power of the track-changing component 12 is generated by the track-changing motor 122. There are two power transmission paths. One transmission path passes through the dual-output-shaft reducer 129, the first track-changing lead screw 1215 and the first track-changing slider 126 in sequence, and reaches the first shoe assembly 124. The other transmission path passes through the dual-output-shaft reducer 129, the second track-changing lead screw 1216 and the second track-changing slider 127 in sequence, and reaches the second shoe assembly 124. The output end of the variable track motor 122 can be connected to the input end of the dual output shaft reducer 129 via the second coupling 128.

[0143] The threads of the first guide screw 1215 and the second guide screw 1216 are in opposite directions; therefore, when the first guide screw 1215 and the second guide screw 1216 rotate in the same direction, the first guide slider 126 and the second guide slider 127 move toward or away from each other.

[0144] In this embodiment, the suspension bridge cable system maintenance robot has at least two track-changing components 12, each with two shoe-holding assemblies 124 that move on different tracks. Because the distance between the two shoe-holding assemblies 124 of the track-changing component 12 is adjustable, the suspension bridge cable system maintenance robot of this application can adapt to different track spacings. The distance between the two shoe-holding assemblies 124 of the track-changing component 12 is adjusted by a track-changing motor 122, allowing for flexible and accurate adjustment, and the distance between the shoe-holding assemblies 124 remains stable after adjustment.

[0145] In addition to using a lead screw, the variable track motor 122 can also drive the first and second shoe assemblies 124 via gears, racks, or belts, etc., without any specific limitations.

[0146] like Figures 16 to 20 As shown, the track-changing component 12 may include a slider guide rail assembly 1210, in which a track-changing slider is mounted and slides along the slider guide rail assembly 1210. A bearing 132 seat is provided within the slider guide rail assembly 1210 to support the track-changing lead screw. The track-changing component 12 may include a U-shaped seat 121, which is inverted and attached to the slider guide rail assembly 1210. First end caps 1211 are provided at both ends of the U-shaped seat 121.

[0147] In one implementation of this application, the thread leads of the first guide screw 1215 and the second guide screw 1216 are equal. The two output shafts of the dual output shaft reducer 129 are in the same direction and at the same speed. When the thread leads are equal, the movement speeds of the first guide slider 126 and the second guide slider 127 are the same.

[0148] like Figures 17 to 18 As shown, in one implementation of this application, the first output shaft of the dual output shaft reducer 129 is connected to the first guide screw 1215 via a universal joint 1213;

[0149] The second output shaft of the dual output shaft reducer 129 is connected to the second guide screw 1216 via a universal joint 1213.

[0150] Using a universal joint 1213 to connect the output shaft of the dual output shaft reducer 129 and the guide screw makes the installation position between the dual output shaft reducer 129 and the guide screw more flexible and increases the tolerance to errors.

[0151] like Figures 21 to 22 As shown, in one implementation of this application, the shoe clamping assembly 124 includes: a gripper 1245, a shoe clamping transmission component, and a shoe clamping motor 1241;

[0152] The shoe-clamping motor 1241 drives the gripper 1245 to open and close via the shoe-clamping transmission component. When the gripper 1245 is closed, it clamps the rail; when the gripper 1245 is open, it releases the rail.

[0153] like Figures 21 to 22 As shown, in one implementation of this application, the shoe-clamping transmission component includes: a driving synchronous pulley 1243, a synchronous belt 1244, a driven synchronous pulley 1243, a bidirectional lead screw 12412, a first gripper 1245 slider, and a second gripper 1245 slider.

[0154] The active synchronous pulley 1243 is installed at the output end of the shoe-mounted motor 1241. The driven synchronous pulley 1243 is coaxially and fixedly connected to the bidirectional lead screw 12412. The active synchronous pulley 1243 is connected to the driven synchronous pulley 1243 through the synchronous belt 1244. The shoe-mounted motor 1241 drives the active synchronous pulley 1243 to rotate. The active synchronous pulley 1243 drives the driven synchronous pulley 1243 to rotate through the synchronous belt 1244. The driven synchronous pulley 1243 drives the bidirectional lead screw 12412 to rotate.

[0155] The gripper 1245 includes a first split toe and a second split toe;

[0156] The first gripper 1245 slider and the first toe are fixedly connected, and the second gripper 1245 slider and the second toe are fixedly connected;

[0157] The first jaw 1245 slider and the second jaw 1245 slider are respectively installed on both sides of the midpoint of the bidirectional lead screw 12412. When the bidirectional lead screw 12412 rotates, the first jaw 1245 slider and the second jaw 1245 slider move towards or away from each other. When the first jaw 1245 slider and the second jaw 1245 slider move towards each other, the first toe and the second toe move towards each other, and the jaw 1245 closes; when the first jaw 1245 slider and the second jaw 1245 slider move away from each other, the first toe and the second toe move away from each other, and the jaw 1245 opens.

[0158] The shoe-holding assembly 124 also includes a guide rod 1249, a second end cap 1248, and a top cap 1247. The two ends of the guide rod 1249 are fixed to the second end cap 1248, and the top cap 1247 covers the guide rod 1249 and the slider. The first gripper 1245 slider and the second gripper 1245 slider move along the guide rod 1249.

[0159] The boot assembly 124 may also include a photoelectric switch 1246, which is installed between the first and second toes and is used to detect whether the boot assembly 124 is on the track.

[0160] like Figure 23As shown, in one implementation of this application, the track-changing component 12 further includes a support wheel assembly 123, which is fixedly connected to the shoe assembly 124. The support wheel assembly 123 includes: a support wheel 1235, a support wheel mounting seat 1231, a swing rod 1232, and a shock-absorbing spring.

[0161] A support wheel 1235 is mounted on one end of the rocker arm 1232, and the other end of the rocker arm 1232 is hinged to a support wheel mounting seat 1231. The two ends of the damping spring are respectively hinged to the support wheel mounting seat 1231 and the rocker arm 1232. The hinge points between the support wheel mounting seat 1231, the rocker arm 1232, and the damping spring are located at the three vertices of a triangle. The shoe assembly 124 and the track-changing slider are fixedly connected via a connecting seat 125. A pin 1214 is inserted into the connecting seat 125 for positioning. The support wheel mounting seat 1231 of the support wheel assembly 123 is fixedly mounted on the connecting seat 125. The damping spring is elastic, so the rocker arm 1232 can rotate relative to the support wheel mounting seat 1231. The support wheel 1235 can move on the track. To ensure more stable cooperation with the track, the middle diameter of the support wheel 1235 is smaller than the diameters at both ends. The axial section of the support wheel 1235 is "H"-shaped, or the lower half of the axial section of the support wheel 1235 is arched. The shape of the support wheel 1235 can also be other, and there are no specific restrictions. The support wheel 1235 can be a rubber wheel, a nylon wheel, etc.

[0162] like Figure 23 As shown, in one implementation of this application, the support wheel assembly 123 further includes an encoder 1234;

[0163] Encoder 1234 is coaxially mounted with support wheel 1235, and is used to record the rotation of support wheel 1235. Using encoder 1234, the number of rotations of support wheel 1235 can be recorded. Combined with the circumference of support wheel 1235, the distance traveled by the suspension bridge cable system maintenance robot can be calculated. Combined with the rotation time, the speed of the suspension bridge cable system maintenance robot can be calculated. When multiple encoders 1234 are installed, the average value of all encoders 1234 can be taken.

[0164] like Figures 14 to 15 As shown, in one implementation of this application, the traction component 11 includes: a fixed frame assembly 112, a telescopic frame assembly 111, a peristaltic motor 115, a transmission bar, and a transmission wheel;

[0165] At least one track-changing component 12 is installed in both the fixed frame assembly 112 and the telescopic frame assembly 111;

[0166] Both the fixed frame assembly 112 and the telescopic frame assembly 111 are rectangular frames. The longitudinal side of the fixed frame assembly 112 and the longitudinal side of the telescopic frame assembly 111 are slidably connected by a slide rail 113. The two ends of the transmission bar are respectively fixed to the two transverse side frames of the fixed frame assembly 112. The rectangular frame includes transverse side frames and longitudinal side frames; the transverse side frames are perpendicular to the track, and the longitudinal side frames are parallel to the track. Figure 15 As shown, a slide rail 113 is mounted on the inner side of the longitudinal frame of the fixed frame assembly 112 and connected to the outer side of the longitudinal frame of the telescopic frame assembly 111. The slide rail 113 is fixed to the fixed frame assembly 112 with screws, and the telescopic frame assembly 111 slides freely along the slide rail 113 of the fixed frame assembly 112.

[0167] Alternatively, a slide rail 113 can be installed on the inner side of the longitudinal frame of the telescopic frame assembly 111 to connect with the outer side of the longitudinal frame of the fixed frame assembly 112; the specific connection is not limited. The transmission bar is parallel to the rail, and its two ends are fixed to the two transverse frames of the fixed frame assembly 112, one in front of the other. The transmission bar can pass through one transverse frame of the telescopic frame assembly 111.

[0168] The peristaltic motor 115 is fixedly mounted on the horizontal frame of the telescopic frame assembly 111. A transmission wheel is installed at the output end of the peristaltic motor 115. The transmission wheel cooperates with the transmission bar, enabling the peristaltic motor 115 to drive the telescopic frame assembly 111 and the fixed frame assembly 112 to slide relative to each other. The peristaltic motor 115 is connected to the transmission wheel through a first coupling 116 and a first reducer 117.

[0169] The process of the peristaltic motor 115 driving the suspension bridge cable system maintenance robot to move along the track is as follows:

[0170] 101. After the track-changing component 12 adjusts the distance between the first and second retaining shoe assemblies 124, as shown... Figure 1 As shown, the suspension bridge cable system maintenance robot is placed on the handrail rope 5, and the support wheel 1235 of the support wheel assembly 123 is engaged with the track;

[0171] 102. The shoe-holding assembly 124 of the fixed frame assembly 112 holds the track, the shoe-holding assembly 124 of the telescopic frame assembly 111 releases the track, and the peristaltic motor 115 drives the telescopic frame assembly 111 to slide relative to the fixed frame assembly 112.

[0172] 103. The shoe-holding assembly 124 of the fixed frame assembly 112 releases the track, the shoe-holding assembly 124 of the telescopic frame assembly 111 holds the track, and the peristaltic motor 115 drives the fixed frame assembly 112 to slide relative to the telescopic frame assembly 111.

[0173] Alternating between steps 102 and 103 allows the suspension bridge cable system maintenance robot to move along the track. In steps 102 and 103, the rotation directions of the peristaltic motor 115 are opposite, i.e., one is clockwise and the other is counterclockwise.

[0174] like Figures 14 to 15 As shown, in one implementation of this application, the horizontal border of the fixed frame component 112 includes a first horizontal border and a second horizontal border, and the horizontal border of the telescopic frame component 111 includes a third horizontal border and a fourth horizontal border, with the second and third horizontal borders installed between the first and fourth horizontal borders; as shown Figure 15 As shown, from right to left, the four horizontal frames are the first, third, second, and fourth horizontal frames. The peristaltic motor 115 is mounted on the third horizontal frame, and the two ends of the transmission bar are fixed to the first and second horizontal frames, with the transmission bar passing through the third horizontal frame.

[0175] The first horizontal frame is equipped with the track-changing component 12, and the fourth horizontal frame is also equipped with the track-changing component 12. For example... Figure 14 As shown, a guide rail component 12 is installed on the first horizontal frame of the fixed frame assembly 112, and another guide rail component 12 is installed on the fourth horizontal frame of the telescopic frame assembly 111. The guide rail component 12 can be installed on the side or bottom of the horizontal frame. The guide rail component 12 can be fixed to the horizontal frame with screws. It should be noted that the guide rail component 12 can also be installed on other horizontal frames, and there is no specific limitation.

[0176] In one implementation of this application, the transmission bar is a chain 114, and the transmission wheel is a sprocket 118; or

[0177] The transmission bar is a rack and pinion, and the transmission wheel is a gear. The transmission bar and the transmission wheel are matched with each other, and other combinations of the transmission bar and the transmission wheel are not limited.

[0178] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A maintenance robot for a suspension bridge cable system, characterized in that, include: Mother robot and daughter robot; The mother robot and the child robot are connected by a traction rope, and the child robot moves up and down along the suspension cable by driving the traction rope. The mother robot includes a traction component and a first maintenance component. The first maintenance component is installed on the traction component. The traction component works with the handrail rope of the main cable. The traction component drives the mother robot to move along the handrail rope. The first maintenance component is used to maintain the main cable. The mother robot also includes at least two trajectory-changing components; The track-changing component moves along the handrail rope under the drive of the traction component; Each track-changing component includes: a first clamping shoe assembly, a track-changing motor, and a second clamping shoe assembly. The track-changing motor drives the first clamping shoe assembly and the second clamping shoe assembly to move towards each other or away from each other, or the track-changing motor controls the first clamping shoe assembly and the second clamping shoe assembly to remain relatively stationary. The first boot assembly moves along the first handrail rope, and the second boot assembly moves along the second handrail rope. The sub-robot includes a base, a support structure, and a second maintenance component. The support structure and the second maintenance component are mounted on the base. The second maintenance component is used to maintain the sling, and the support structure is used to climb the sling to stabilize the sub-robot's posture.

2. The suspension bridge cable system maintenance robot according to claim 1, characterized in that, The sub-robot also includes a base rail; The base and support structure are connected by a base slide rail, which allows the support structure to slide on the rail. The extension direction of the base slide rail is perpendicular to the plane containing the sling and the main cable.

3. The suspension bridge cable system maintenance robot according to claim 2, characterized in that, The sub-robot also includes a base motor, a sliding transmission bar, and sliding transmission wheels; The base motor is fixedly installed on the base. The output end of the base motor is connected to the sliding transmission wheel. The two ends of the sliding transmission bar are fixedly connected to the support structure. The sliding transmission bar matches the sliding transmission wheel, so that the base motor can drive the support structure to slide on the slide rail.

4. The suspension bridge cable system maintenance robot according to claim 1, characterized in that, The support structure includes a synchronous telescopic assembly and two support arms; Two support arms are fixedly installed at both ends of the synchronous telescopic assembly. The two ends of the synchronous telescopic assembly can move away from or towards each other, so that the two support arms move away from or towards each other.

5. The suspension bridge cable system maintenance robot according to claim 4, characterized in that, The synchronous telescopic assembly includes: a synchronous telescopic motor, a dual-output shaft reducer, a first synchronous telescopic lead screw, a second synchronous telescopic lead screw, a synchronous telescopic mounting base, a first telescopic slider, a second telescopic slider, a first synchronous telescopic frame, and a second synchronous telescopic frame; The dual-output shaft reducer, the first synchronous telescopic screw, the second synchronous telescopic screw, the first telescopic slider and the second telescopic slider are installed in the synchronous telescopic mounting base, and the first synchronous telescopic frame and the second synchronous telescopic frame are respectively installed at both ends of the outer side of the synchronous telescopic mounting base. The output end of the synchronous telescopic motor is connected to the input end of the dual-output shaft reducer. The two output ends of the dual-output reducer are respectively connected to the first synchronous telescopic lead screw and the second synchronous telescopic lead screw. The first telescopic slider moves on the first synchronous telescopic lead screw, and the second telescopic slider moves on the second synchronous telescopic lead screw. The first and second synchronous telescopic lead screws rotate in opposite directions. The first telescopic slider and the first synchronous telescopic frame are fixedly connected, and the second telescopic slider and the second synchronous telescopic frame are fixedly connected, so that the synchronous telescopic motor drives the first and second synchronous telescopic frames to move in opposite directions or towards each other relative to the base along the direction parallel to the main cable.

6. The suspension bridge cable system maintenance robot according to claim 1, characterized in that, The base is equipped with at least three winches; Of the at least three winches, at least one is not collinear with the other winches.

7. The suspension bridge cable system maintenance robot according to claim 6, characterized in that, The base is equipped with counterweights; The counterweight is used to ensure that the projection of the sub-robot's center of gravity in the vertical direction lies within the polygon with the winch as its vertex.

8. The suspension bridge cable system maintenance robot according to claim 1, characterized in that, The support arm includes a contact wheel, wheel frame, arm frame, and support arm motor; At least two contact wheels are installed on one side of a wheel frame, and the center of the wheel frame is rotatably connected to the boom. The support boom motor drives the wheel frame to rotate around the boom, so that at least two contact wheels on a wheel frame can attach to or detach from the sling.

9. The suspension bridge cable system maintenance robot according to claim 8, characterized in that, The support arm also includes a support arm transmission component; A boom is equipped with multiple wheel frames, and the boom motor drives multiple wheel frames simultaneously through the boom transmission components.

10. The suspension bridge cable system maintenance robot according to claim 1, characterized in that, The mother robot also includes gantry-shaped support components; The top of the portal support component is a mounting frame, and a lifting outrigger assembly is installed on each side of the mounting frame. The lifting outrigger assembly is equipped with maintenance equipment for the maintenance of the main cable.

11. The suspension bridge cable system maintenance robot according to claim 10, characterized in that, The lifting outrigger assembly includes a support frame, lifting guide rail, lifting slider, support, support motor, support drive wheel, and support drive bar. The support is equipped with maintenance equipment. The lifting guide rail is fixedly installed on the support frame and extends vertically. The lifting slider slides in cooperation with the lifting guide rail. The support is fixedly connected to the lifting slider. The support motor is fixedly installed on the support. The two ends of the support transmission bar are fixed to the support frame. The output end of the support motor is equipped with the support transmission wheel. The support transmission wheel cooperates with the support transmission bar, so that the support motor drives the support to move up and down.

12. The suspension bridge cable system maintenance robot according to claim 10, characterized in that, The mother robot also includes a central maintenance component; The central maintenance component is installed at the bottom of the central frame. The central maintenance component can extend and retract in the vertical direction. Maintenance equipment is installed below the central maintenance component to maintain the main cable.

13. The suspension bridge cable system maintenance robot according to claim 12, characterized in that, The central maintenance components include the central base plate, central upper guide rail, central lower guide rail, scissor lift mechanism, central connecting rod, central motor, central drive wheel, and central drive bar; The upper guide rail is mounted on the mounting frame, and the lower guide rail is set on the middle base plate. The upper and lower guide rails are parallel. The upper part of the scissor mechanism moves along the upper guide rail, and the lower part of the scissor mechanism moves along the lower guide rail. The scissor lift mechanisms are symmetrically arranged on both sides of the central base plate. The scissor lift mechanisms are connected by a central connecting rod so that each scissor lift mechanism can extend and retract synchronously. The central motor is mounted on the central base plate. The output end of the central motor is connected to the central transmission wheel, which cooperates with the central transmission bar. Both ends of the central transmission bar are fixedly connected to the central connecting rod. The central motor drives the central connecting rod to drive the scissor mechanism to extend and retract, thereby controlling the distance between the central base plate and the mounting frame.

14. The suspension bridge cable system maintenance robot according to claim 1, characterized in that, Each track-changing component also includes: a first track-changing slider, a first track-changing screw, a dual-output shaft reducer, a second track-changing slider, and a second track-changing screw; The output end of the variable track motor is connected to the input end of the dual output shaft reducer. The first output shaft of the dual output shaft reducer is connected to the first variable track screw. The first variable track slider moves on the first variable track screw. The first shoe assembly and the first variable track slider are fixedly connected. The second output shaft of the dual output shaft reducer is connected to the second variable track screw. The second variable track slider moves on the second variable track screw. The second shoe assembly and the second variable track slider are fixedly connected. The first and second guide screws have opposite thread directions.

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