Double-derrick detection rope climbing robot and detection method

Abstract

The application discloses a double-hoist detection cable-climbing robot and a detection method. The double-hoist detection cable-climbing robot comprises a rack, a switch mechanism, a cable-climbing mechanism, a clamping mechanism and a detection camera. The rack is internally provided with a through accommodating cavity for the double hoist to pass through. The switch mechanism is used for opening the accommodating cavity. The cable-climbing mechanism is provided with two groups. The two groups of cable-climbing mechanisms are oppositely arranged on the rack from the connection direction of the two hoists. Each group of cable-climbing mechanisms comprises two rolling components which are oppositely arranged perpendicularly to the connection direction of the two hoists. The rolling components are used for rolling to run on the double hoist. The clamping mechanism is used for driving the two rolling components of each group to move close to or away from each other to adjust the distance between the two rolling components. The detection camera is in communication connection with a terminal. The detection camera is used for shooting the image of the double hoist and transmitting the image to the terminal. The double-hoist detection cable-climbing robot can simplify the detection task.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cable-climbing robots, and more particularly relates to a double-hanger detection cable-climbing robot and a detection method. BACKGROUND

[0002] Suspension bridges, also known as suspension bridges, refer to bridges with cable structures suspended by cable towers and anchored on both sides (or at both ends of the bridge) as the main load-bearing components of the upper structure. The cable geometry is determined by the force balance condition and generally approximates a parabola. Many hangers are hung from the cable to support the bridge deck. Suspension bridges are popular with the public due to their good structural stability and high safety.

[0003] The outer layer of the hanger of the suspension bridge is wrapped with a PE protective tube, which is used to avoid the hanger from being eroded by external conditions such as wind and sunlight. However, the PE protective tube is prone to damage during long-term use, causing the hanger inside to be exposed and thus eroded. In the daily maintenance of the suspension bridge, in order to avoid the hanger from being eroded, the PE protective tube needs to be inspected. Generally, the inspection personnel use a climbing vehicle to change the height of the climbing vehicle to inspect the PE protective tube and observe whether it is damaged. However, this detection method interferes with the driving of other vehicles on the suspension bridge when inspecting, and one person needs to operate the climbing vehicle to change the height and another person needs to conduct inspection and observation, which is complicated and labor-intensive. SUMMARY

[0004] In view of the above defects or improvement needs of the prior art, the present application provides a double-hanger detection cable-climbing robot and a detection method, aiming to simplify the inspection operation and avoid interfering with the driving of other vehicles.

[0005] To achieve the above-mentioned purpose, the present application provides a double-hanger detection cable-climbing robot, comprising:

[0006] A rack is provided with a through accommodating cavity, and the accommodating cavity is used for the double hanger to pass through;

[0007] A switch mechanism is used to open the accommodating cavity;

[0008] A cable-climbing mechanism is provided with two groups, and the two groups of cable-climbing mechanisms are oppositely spaced on the rack from the connection direction of the two hangers. Each group of cable-climbing mechanisms includes two rolling components oppositely spaced in the connection direction of the two hangers, and the rolling components are used to roll to run on the double hanger;

[0009] A clamping mechanism is used to drive the two rolling components of each group to approach or move away from each other to adjust the spacing of the two rolling components;

[0010] a detection camera, which establishes a communication connection with the terminal, and is configured to capture the image of the double-pole and transmit the image to the terminal.

[0011] In an embodiment, the clamping mechanism comprises an adjusting member, which adjusts the distance between the two rolling assemblies of each group when the double-pole detection and cable-climbing robot moves on the double-pole.

[0012] In an embodiment, the adjusting member comprises an adjusting spring, which is connected to the rolling assemblies, and is compressed to drive the two rolling assemblies away from each other, and is stretched to drive the two rolling assemblies close to each other.

[0013] In an embodiment, the rolling assembly comprises a first roller arranged at the head of the frame and a second roller arranged at the tail of the frame, and the adjusting spring is arranged between the first roller and the second roller, and is deformed to drive the first roller and the second roller to rotate in the direction of the elastic length.

[0014] In an embodiment, the first roller and the second roller are each provided with a rotating frame, and the rotating frames of the first roller and the second roller are respectively rotatably connected to the head and the tail of the frame and connected to the two ends of the adjusting spring.

[0015] In an embodiment, the rolling assembly comprises a one-way transmission reducer and a battery, the one-way transmission reducer is configured to drive the first roller and the second roller, and the battery provides power for the one-way transmission reducer.

[0016] In an embodiment, the detection camera is arranged at the head of the frame.

[0017] In an embodiment, a plurality of detection cameras are arranged around the head of the frame.

[0018] In an embodiment, the first roller and the second roller are recessed to form arc-shaped grooves.

[0019] The present application also provides a detection method of the double-pole detection and cable-climbing robot, which comprises the following steps:

[0020] S100, opening the accommodating cavity by using the switch mechanism;

[0021] S200, adjusting the two groups of cable-climbing mechanisms so that the two groups of cable-climbing mechanisms are aligned and attached to the two pole circumferential walls;

[0022] S300, adjusting the clamping mechanism so that the two rolling assemblies of each group clamp the double-pole;

[0023] S400, starting the detection camera;

[0024] S500, start the rolling assembly to perform a detection task along the length direction of the double-pylon detection climbing cable robot.

[0025] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0026] The double-pylon detection climbing cable robot of the present application surrounds the outer periphery of the double pylon through the frame, makes the double pylon enter and exit the frame through the switching mechanism, moves on the double pylon through the climbing mechanism, clamps the double pylon through the clamping mechanism, and transmits the captured damage of the PE protective tube to the terminal in real time through the detection camera. The double-pylon detection climbing cable robot of the present application can avoid interfering with the driving of other vehicles on the suspension bridge, and only a single operator is needed to realize the detection operation, which can simplify the detection task. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Fig. 1 is a structural schematic diagram of a double-pylon suspension bridge;

[0028] Figure 2 Fig. 1 is a structural schematic diagram of a double-pylon suspension bridge;

[0029] Figure 3 Fig. 1 is a structural schematic diagram of a double-pylon suspension bridge; Figure 2 Fig. 1 is a structural schematic diagram of a double-pylon suspension bridge;

[0030] Figure 4 Fig. 1 is a structural schematic diagram of a double-pylon suspension bridge;

[0031] Figure 5 Fig. 1 is a structural schematic diagram of a double-pylon suspension bridge;

[0032] In all the drawings, the same reference signs represent the same technical features, specifically:

[0033] 10, double-pylon detection climbing cable robot; 11, frame; 111, accommodating cavity; 112, annular plate; 113, connecting rod; 12, switching mechanism; 13, climbing mechanism; 131, rolling assembly; 1311, first roller; 1312, second roller; 1313, rotating frame; 13131, rotating shaft; 1314, one-way transmission reducer; 14, clamping mechanism; 141, adjusting spring; 15, detection camera; 21, bridge deck; 22, cable; 23, pylon; 24, shock-absorbing frame. DETAILED DESCRIPTION

[0034] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0035] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0036] In addition, if the embodiments of the present application involve descriptions such as “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope of the present application.

[0037] Please refer to Figure 1 shown, Figure 1 is a schematic view of a double-hanger suspender 23 in a double-hanger suspender bridge, and in Figure 1 , the bridge deck 21 and the cable 22 are connected through the double-hanger suspender 23, a plurality of double-hanger suspenders 23 are arranged along the cable 22 to support the whole bridge, and the outer layer of any suspender 23 in the double-hanger suspender 23 is wrapped with a PE protective tube.

[0038] Please refer to Figures 2 to 4 shown, the present application provides a double-hanger detection cable-climbing robot 10, which comprises a rack 11, a switch mechanism 12, a cable-climbing mechanism 13, a clamping mechanism 14 and a detection camera 15.

[0039] The rack 11 is internally provided with a through accommodating cavity 111 for the double-rope 23 to pass through. Specifically, in the embodiment, the rack 11 is composed of a plurality of annular plates 112 connected by a plurality of connecting rods 113, and the rack 11 is formed in a hollow structure by the annular plates 112 and the connecting rods 113. This arrangement has the advantages of ensuring the stability of the rack 11 while minimizing the weight of the machine to avoid the difficulty of the double-rope detection and climbing robot 10 to move straight up and down on the double-rope 23 due to the heavy weight of the rack 11. Further, due to the gaps between the plurality of annular plates 112, the plurality of annular plates 112 and the connecting rods 113 form the accommodating cavity 111. After the double-rope 23 passes through the accommodating cavity 111, the plurality of annular plates 112 and the connecting rods 113 surround the outer periphery of the double-rope 23. To avoid the double-rope detection and climbing robot 10 from contacting the double-rope 23 and affecting the movement of the double-rope detection and climbing robot 10 when moving on the double-rope 23, the gaps between the annular plates 112 are as large as possible.

[0040] As a preferred, in the embodiment, the material of the annular plates 112 and the connecting rods 113 is carbon fiber. It is easy to understand that the carbon fiber material has the advantage of light weight, which makes the weight of the rack 11 lighter, and further makes the double-rope detection and climbing robot 10 more easily move straight up and down. At the same time, the carbon fiber material has high strength and strong anti-deformation ability, which makes the structural strength of the rack 11 higher and less likely to be damaged. In addition, the carbon fiber does not shield the electronic heart, which makes it possible to transmit the pictures taken by the detection camera 15. Furthermore, the carbon fiber material has good corrosion resistance and can meet the relatively humid use environment on the suspension bridge.

[0041] The switch mechanism 12 is used to open and close the accommodating cavity 111. Before the inspection task of the PE protection tube starts, the accommodating cavity 111 is opened to allow the double-rope 23 to enter the rack 11. After the inspection task of the PE protection tube starts, the accommodating cavity 111 is closed to allow the double-rope 23 to be surrounded by the rack 11. Specifically, in the embodiment, the connecting rods 113 are provided with hinges on one side, and the rack 11 is closed by the hinges and opened by the hinges.

[0042] The climbing mechanism 13 is provided with two groups, and the two groups of climbing mechanisms 13 are oppositely arranged on the rack 11 from the connection direction of the two hangers 23. Each group of climbing mechanisms 13 includes two rolling assemblies 131 oppositely arranged perpendicular to the connection direction of the two hangers 23, and the rolling assemblies 131 are used for rolling to run on the double hanger. Specifically, in the embodiment, after the double hanger 23 enters the containing cavity 111, the two groups of climbing mechanisms 13 located in the containing cavity 111, one group contacts the peripheral wall of one hanger 23, and the other group contacts the peripheral wall of the other hanger 23. After the two groups of climbing mechanisms 13 contact the double hanger 23 respectively, the rolling assemblies 131 of each group of climbing mechanisms 13 are started, the rolling assemblies 131 carry the rack 11 to roll along the length direction of the hanger 23, and further drive the double-hanger detection climbing robot 10 to go up and down on the double hanger 23.

[0043] The clamping mechanism 14 is used to drive the two rolling assemblies 131 of each group to approach or move away from each other to adjust the distance between the two rolling assemblies 131. Specifically, since the two rolling assemblies 131 of each group are oppositely arranged, when the two rolling assemblies 131 of each group approach each other, the two rolling assemblies 131 of each group can clamp the single hanger 23 of the group, so as to avoid the two rolling assemblies 131 of each group from falling off the double hanger 23 when the double hanger 23 goes up and down. When the two rolling assemblies 131 of each group move away from each other, the two rolling assemblies 131 can release the single hanger 23, so as to separate the rolling assembly 131 from the single hanger 23 after the detection task is completed. Since there are multiple pairs of double hangers 23 between the bridge deck 21 and the cable 22, and the distance between each pair of double hangers 23 is different, and the gap in the annular plate 112 is as large as possible, the clamping mechanism 14 provides a large distance for the two rolling assemblies 131 of each group to approach and move away from each other. Therefore, the double-hanger detection climbing robot 10 can adapt to double hangers 23 with different distances.

[0044] The detection camera 15 is in communication connection with the terminal, and the detection camera 15 is used for shooting images of the double hanger 23 and transmitting to the terminal.

[0045] Optionally, the detection camera 15 can be in communication with the terminal based on a Bluetooth communication protocol, a WiFi communication protocol, an infrared communication protocol, a 2.4G communication protocol, a 3G / 4G / 5G communication, etc. Correspondingly, the terminal can be a smartphone, a tablet computer, a smart watch, a PC, a notebook computer, etc. having at least one of the above communication protocols. Specifically, in the embodiment, the detection camera 15 adopts a 2.4G transmitter IC, i.e. through a 2.4G communication protocol. The advantage of such a setting is that the 2.4G transmitter IC has low power consumption and can meet the inspection task of multiple double hangers 23 on the suspension bridge. Meanwhile, the 2.4G transmitter IC has small size and light weight, which makes it possible to be installed and used on the detection camera 15.

[0046] In actual use, the containing cavity 111 is first opened by using the switching mechanism 12. After the rack 11 is wrapped around the double hanger 23, the containing cavity 111 is closed by using the switching mechanism 12. The positions of the two groups of climbing mechanisms 13 are adjusted so that the two groups of climbing mechanisms 13 are respectively aligned and attached to the peripheral walls of the two hangers 23. The clamping mechanism 14 is adjusted so that the two rolling assemblies 131 of each group clamp the double hanger 23. The detection camera 15 is started so that it is in a working state. The stability of the communication connection between the detection camera 15 and the terminal is observed. The rolling assembly 131 is started so that the double-hanger detection climbing robot 10 moves on the double hanger 23. The detection camera 15 transmits the actual situation of the PE protection tube in real time.

[0047] It can be understood that the double-hanger detection climbing robot 10 of the present application wraps around the outer periphery of the double hanger 23 through the rack 11, makes the double hanger 23 enter and exit the rack 11 through the switching mechanism 12, moves on the double hanger 23 through the climbing mechanism 13, clamps the double hanger 23 through the clamping mechanism 14, and transmits the damage of the PE protection tube in real time to the terminal through the detection camera 15. The double-hanger detection climbing robot 10 of the present application can avoid interfering with the driving of other vehicles on the suspension bridge, and only one operator is needed to realize the detection operation, which can simplify the detection task.

[0048] In an embodiment, the clamping mechanism 14 includes an adjusting piece that adjusts the distance between the two rolling assemblies 131 of each group when the double-hanger detection climbing robot 10 moves on the double hanger 23. It can be understood that after the distance between the two rolling assemblies 131 of each group is adjusted by the clamping mechanism 14, the double-hanger detection climbing robot 10 is separated from the operator. During the movement on the double hanger 23, the distance between the two hangers 23 is not always an equal distance. For example, please refer to Figure 1As shown, due to the damping frame 24 arranged at the middle position of the double davit 23, the distance between the double davit 23 at the damping frame 24 is increased, so that the double davit detection climbing rope robot 10 is difficult to pass through, and the PE protection tube above the damping frame 24 of the double davit 23 cannot be completed. By adjusting the distance between the two rolling assemblies 131 when the climbing rope mechanism 13 encounters the damping frame 24, the double davit detection climbing rope robot 10 can pass through.

[0049] Further, the adjusting member comprises an adjusting spring 141 connected with the rolling assembly 131, the adjusting spring 141 is compressed to drive the two rolling assemblies 131 of each group to move away from each other, and the adjusting spring 141 is stretched to drive the two rolling assemblies 131 to move close to each other.

[0050] Specifically, in the embodiment, the side of the rolling assembly 131 close to the rack 11 is connected with the adjusting spring 141, and the two rolling assemblies 131 are connected with the two adjusting springs 141. When encountering the damping frame 24, the two rolling assemblies 131 are in contact with the damping member and are subjected to the action force of the damping member. The rolling assembly 131 transmits the action force to the adjusting spring 141, the adjusting spring 141 is contracted under the action force, and the two rolling assemblies 131 have a movable space to move away from each other under the action force of the damping frame 24. At the same time, due to the elastic potential energy of the adjusting spring 141, the two rolling assemblies 131 are in a tightened state. In this way, the two rolling assemblies 131 can be moved away to pass through the damping frame 24, and are ensured to be in the tightened state to avoid falling from the double davit 23. It should be noted that the present application is not limited thereto, and in other embodiments, one rolling assembly 131 can be connected with the rack 11 through the adjusting spring 141, that is, the rolling assembly 131 on one side of the double davit detection climbing rope robot 10 is movable to pass through the damping frame 24.

[0051] In an embodiment, the rolling assembly 131 comprises a first roller 1311 arranged at the head of the frame 11 and a second roller 1312 arranged at the tail of the frame 11. The head of the frame 11 refers to the side of the double-rope detection climbing robot 10 close to the top of the double-rope 23 when the double-rope detection climbing robot 10 moves on the double-rope 23. Correspondingly, the tail of the frame 11 refers to the side of the double-rope detection climbing robot 10 away from the top of the double-rope 23 when the double-rope detection climbing robot 10 moves on the double-rope 23. Since the double-rope detection climbing robot 10 has two rolling assemblies 131, and the two rolling assemblies 131 are oppositely arranged, i.e., two first rollers 1311 are oppositely arranged at the head of the frame 11, and two second rollers 1312 are oppositely arranged at the tail of the frame 11, so that the distance between the first roller 1311 and the second roller 1312 is far, and thus each group of two rolling assemblies 131 can run more stably on the double-rope 23. Further, the adjusting spring 141 is arranged between the first roller 1311 and the second roller 1312, and the adjusting spring 141 deforms to drive the first roller 1311 and the second roller 1312 to rotate from the elastic length direction. Specifically, when the two adjusting springs 141 are stretched, the adjusting spring 141 on the right side lifts the first roller 1311 to rotate counterclockwise, and the adjusting spring 141 on the left side lifts the first roller 1311 to rotate clockwise, so that the two first rollers 1311 are close to each other. Correspondingly, when the first roller 1311 on the right side is lifted by the damping frame 24 and rotates clockwise to compress the adjusting spring 141, the first roller 1311 on the left side is lifted by the damping frame 24 and rotates counterclockwise to compress the adjusting spring 141. The advantage of this arrangement is that the two first rollers 1311 and the two second rollers 1312 can be controlled by the two adjusting springs 141.

[0052] Further, the first roller 1311 and the second roller 1312 are each provided with a rotating frame 1313, and the rotating frame 1313 of the first roller 1311 and the second roller 1312 is respectively rotatably connected to the head and the tail of the frame 11 and connects two ends of the adjusting spring 141. Specifically, in this embodiment, a through rotating hole is concavely arranged on the rotating frame 1313, and a matching hole is concavely arranged on the frame 11. A rotating shaft 13131 is inserted into the matching hole of the frame 11 and the rotating hole of the rotating frame 1313, so that the rotating frame 1313 rotates relative to the frame 11.

[0053] Preferably, the rotating frame 1313 is designed as a triangle, so as to improve the stability of the rotating frame 1313. Further, the shorter right angle side of the rotating frame 1313 is in abutment with the adjusting spring 141, and the longer right angle side of the rotating frame 1313 is connected with the first roller 1311, so as to realize that the adjusting spring 141 only needs a smaller elongation to realize a larger distance rotation of the first roller 1311, thereby avoiding that the adjusting spring 141 is difficult to realize a larger distance rotation of the first roller 1311 due to a smaller deformation amount.

[0054] Further, in the initial state, the distance between the two rolling assemblies 131 of each group is smaller than the diameter of the boom 23. It can be understood that, by using the above design, when the rolling assembly 131 is just in contact with the boom 23, the first roller 1311 of the two rolling assemblies 131 of each group is pressed by the boom 23, so that the first roller 1311 of the two rolling assemblies 131 is rotated through the rotating frame 1313 to compress the adjusting spring 141, thereby realizing clamping before the double-boom detection cable-climbing robot 10 is in contact with the boom 23.

[0055] Further, the rolling assembly 131 comprises a motor. The motor is used to provide power for each group of rolling assemblies 131, so that the first roller 1311 and the second roller 1312 can realize rotation.

[0056] Further, the rolling assembly 131 comprises a one-way transmission reducer 1314, which is used to provide one-way rotation for the motor. The one-way rotation means that the motor is allowed to output torque and rotation to the first roller 1311 and the second roller 1312, but the first roller 1311 or the second roller 1312 cannot rotate the torque to the motor. The advantage of this design is that it avoids the first roller 1311 or the second roller 1312 from being stuck, and the double-boom detection cable-climbing robot 10 will not appear to be unable to descend. Due to one-way transmission, the motor outputs a slower speed and a larger torque to the first roller 1311 or the second roller 1312, and the first roller 1311 or the second roller 1312 will not drive the motor to rotate when it is actively rotating, which makes the first roller 1311 or the second roller 1312 actively rotate more easily. If the motor loses power, as long as a little external force is applied, the double-boom detection cable-climbing robot 10 can be taken off the boom 23 through the umbilical cord.

[0057] Further, the rolling assembly 131 further comprises a battery, which is used to provide power for the motor.

[0058] In an embodiment, the detection camera 15 is arranged at the head of the frame 11. It can be understood that the top of the boom 23 is always a detection dead angle, and arranging the detection camera 15 at the head of the frame 11 enables the detection camera 15 to effectively capture the top of the boom when the double-boom detection climbing rope robot 10 moves to the top of the boom 23, thereby avoiding causing a detection dead angle.

[0059] Further, the detection camera 15 is arranged in multiple, and the multiple detection cameras 15 are arranged around the head of the frame 11. Specifically, in the embodiment, there are eight detection cameras 15, and four detection cameras 15 in one group are arranged to capture one boom 23, and the four detection cameras 15 in one group are arranged around the head of the frame 11, and each of the four detection cameras 15 is arranged to capture 1 / 4 of the circumference of the boom 23, so that the pictures captured by the four detection cameras 15 form an image of the entire circumference of the boom. It is not difficult to understand that in this way, it can be ensured that the entire circumference of the boom is captured, and the situation of missing detection is avoided.

[0060] Further, the first roller 1311 and the second roller 1312 are recessed to form arc-shaped grooves. Herein, since the outer circumference of the boom 23 is cylindrical, recessing the first roller 1311 and the second roller 1312 to form arc-shaped grooves enables the first roller 1311 and the second roller 1312 to wrap around the surface of the cylindrical boom 23 and adhere to it, thereby increasing the contact area, ensuring the tightness of the connection, and further ensuring the stability of the first roller 1311 and the second roller 1312 when running on the boom 23.

[0061] Further, the material of the first roller 1311 is rubber. It is not difficult to understand that since the surface of rubber is rough, the surface friction of the first roller 1311 is large, which enables the first roller 1311 to have a stronger gripping force with the boom, and since rubber can deform, the first roller 1311 can adhere to the boom 23 when being squeezed.

[0062] Further, the material of the second roller 1312 is rubber. It is not difficult to understand that since the surface of rubber is rough, the surface friction of the second roller 1312 is large, which enables the second roller 1312 to have a stronger gripping force with the boom, and since rubber can deform, the second roller 1312 can adhere to the boom 23 when being squeezed.

[0063] The application also provides a detection method of the double-boom detection climbing rope robot 10, which specifically comprises the following steps:

[0064] S100, using the switch mechanism 12 to open the containing cavity 111;

[0065] S200, adjusting the two groups of climbing mechanisms 13 so that the two groups of climbing mechanisms 13 are aligned and adhere to the circumferential walls of the two booms 23;

[0066] S300, adjust the clamping mechanism 14 so that two rolling assemblies 131 of each group clamp the double boom 23;

[0067] S400, start the detection camera 15;

[0068] S500, start the rolling assembly 131 to perform the detection task along the length direction of the boom 23.

[0069] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like made by using the content of the present application specification and drawings within the inventive concept of the present application is included in the patent protection scope of the present application.

Claims

1. A double-boom detection and climbing robot, characterized by, The utility model relates to a double-hoisting rod detection robot, including: A rack is internally provided with a through accommodating cavity, and the accommodating cavity is used for the double-hoisting rod to pass through, wherein a shock-absorbing frame is arranged at the middle position of the double-hoisting rod, and the distance between the two hoisting rods is not all equal interval distance; A switch mechanism is used to open the accommodating cavity; Two groups of climbing rope mechanisms are arranged on the rack and are oppositely spaced from the connecting direction of the two hoisting rods, one group of climbing rope mechanisms is in contact with the peripheral wall of one hoisting rod, the other group of climbing rope mechanisms is in contact with the peripheral wall of the other hoisting rod, each group of climbing rope mechanisms comprises two rolling assemblies which are oppositely spaced from the connecting direction of the two hoisting rods, and the rolling assemblies are used to roll to run on the double-hoisting rod; A clamping mechanism is used to drive two rolling assemblies of each group to approach or move away from each other to adjust the interval of the two rolling assemblies; A detection camera is in communication connection with a terminal, and the detection camera is used to shoot the image of the double-hoisting rod and transmit to the terminal; The clamping mechanism comprises an adjusting part, and when the double-hoisting rod detection climbing robot moves on the double-hoisting rod, the adjusting part adjusts the interval of two rolling assemblies of each group; The adjusting part comprises an adjusting spring connected with the rolling assembly, the adjusting spring is compressed to drive the two rolling assemblies to move away from each other, and the adjusting spring is stretched to drive the two rolling assemblies to approach each other.

2. The dual boom detection and climbing robot of claim 1, wherein, The rolling assembly comprises a first roller arranged at the head of the rack and a second roller arranged at the tail of the rack, the adjusting spring is arranged between the first roller and the second roller, and the adjusting spring is deformed to drive the first roller and the second roller to rotate from the elastic length direction.

3. The dual-rope detection and climbing robot of claim 2, wherein, The first roller and the second roller are both provided with rotating frames, and the rotating frames of the first roller and the second roller are rotatably connected with the head and the tail of the rack and connected with both ends of the adjusting spring.

4. The dual-rope detection and climbing robot of claim 3, wherein, The rolling assembly comprises a one-way transmission reducer and a battery, the one-way transmission reducer is used to drive the first roller and the second roller, and the battery provides power for the one-way transmission reducer.

5. The dual-rope detection and climbing robot of claim 2, wherein, The detection camera is arranged at the head of the rack.

6. The dual boom detection and climbing robot of claim 2, wherein, The detection camera is provided with a plurality of detection cameras arranged on the side of the head of the rack.

7. The dual-rope detection and climbing robot of claim 2, wherein, The first roller and the second roller are both recessed to form an arc-shaped groove.

8. A method of inspecting a double-boom inspection climbing robot as claimed in any one of claims 1 to 7, characterized in that, The utility model relates to a double-hoisting rod detection robot, including: S100, the switch mechanism is used to open the accommodating cavity; S200, adjust two groups of climbing rope mechanisms so that two groups of climbing rope mechanisms are aligned and adhere to the peripheral wall of the two hoisting rods; S300, adjust the clamping mechanism so that two rolling assemblies of each group clamp the double-hoisting rod; S400, start the detection camera; S500, start the rolling assembly to detect the double-hoisting rod detection climbing robot along the length direction of the hoisting rod to carry out the detection task.

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