A rope climbing device and main cable maintenance robot

Abstract

The application discloses a rope climbing device, which comprises a moving chassis, a supporting roller mechanism and at least two power mechanisms, wherein the rollers of the supporting roller mechanism are used for rolling along the handrail ropes to bear the moving chassis to move along the handrail ropes; each power mechanism comprises a power piece and a power roller connected with each other, the power piece is arranged on the moving chassis and is used for driving the power roller to rotate; wherein the power rollers of the two power mechanisms are used for being oppositely or oppositely pressed on two parallel handrail ropes to enable the power piece to drive the power roller to roll along the handrail ropes. Under the action of the power mechanisms, the moving chassis can continuously move along the handrail ropes. Obviously, the rope climbing device has the advantage of fast climbing speed, and correspondingly, the working efficiency of the main cable maintenance robot is improved.

Description

Technical Field

[0001] This invention relates to the field of main cable maintenance technology, and in particular to a rope crawling device. Background Technology

[0002] The main cable is the primary load-bearing component of a suspension bridge. Its protection relies on a combination of protective putty, wrapped steel wire, and an external protective coating for corrosion prevention. However, the external protective coating is prone to aging and cracking in the air, frequently requiring maintenance robots to inspect the main cable.

[0003] Among them, the main cable maintenance robot usually adopts intermittent creeping climbing action when climbing along the main cable, so as to climb along the main cable and carry out maintenance on the main cable.

[0004] However, by using intermittent creeping climbing motions, the main cable maintenance robot travels at a slow speed along the main cable, thus affecting its maintenance efficiency. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a rope crawling device with high crawling efficiency.

[0006] The present invention also proposes a main cable maintenance robot having the above-mentioned rope crawling device.

[0007] In a first aspect, embodiments of this application provide a rope crawling device, comprising:

[0008] Mobile chassis;

[0009] A support roller mechanism, wherein the rollers of the support roller mechanism are used to roll along the handrail rope to support the movement of the movable chassis along the handrail rope;

[0010] At least two power mechanisms, each of which includes a power component and a power pressure roller connected together, wherein the power component is disposed on the mobile chassis and is used to drive the power pressure roller to rotate;

[0011] The power rollers of the two power mechanisms are used to press against two parallel handrail ropes, either opposite or back-to-back, so that the power unit can drive the power rollers to roll along the handrail ropes.

[0012] According to some embodiments of the present invention, the power mechanism is adjustablely disposed on the mobile chassis, either away from or near the handrail rope.

[0013] According to some embodiments of the present invention, the rope crawling device further includes a pressure sensor disposed on the power mechanism for detecting the force applied to the power pressure wheel.

[0014] According to some embodiments of the present invention, the rope crawling device further includes:

[0015] An adjustment mechanism, located on the movable chassis, is used to drive the power pressure roller away from or closer to the handrail rope. The pressure sensor is connected to the adjustment mechanism and the power mechanism to detect the force applied to the power pressure roller.

[0016] The control module is electrically connected to the adjustment mechanism and the pressure sensor. Based on the detection value of the pressure sensor, the control module controls the power pressure roller to move away from or closer to the handrail rope through the adjustment mechanism.

[0017] According to some embodiments of the present invention, the rope crawling device further includes a linear guide mechanism, which includes a slidably disposed guide rail seat and a slide table, wherein one of the guide rail seat and the slide table is disposed on the power member, and the other is disposed on the adjustment mechanism.

[0018] According to some embodiments of the present invention, the rope crawling device further includes an adjustment mechanism, which is provided in equal numbers to the power mechanism and connected to it. The adjustment mechanism is disposed on the movable chassis and is used to drive the power pressure wheel to move away from or towards the handrail rope.

[0019] Alternatively, the rope crawling device may further include an adjustment mechanism, which is disposed on the mobile chassis and connected to the two power mechanisms for driving the two power mechanisms to move relative to each other or closer together.

[0020] According to some embodiments of the present invention, the adjusting mechanism includes a driving member, a lead screw, and a guide nut, wherein the lead screw is rotatably disposed with respect to the movable chassis, the driving member is disposed on the movable chassis for driving the lead screw to rotate, the guide nut is slidably disposed on the movable chassis and threadedly connected to the lead screw, and the power mechanism is connected to the guide nut.

[0021] According to some embodiments of the present invention, the rope climbing device includes at least four of the power mechanisms, at least two of the power mechanisms acting on one handrail rope, and at least two of the power mechanisms acting on another handrail rope.

[0022] According to some embodiments of the present invention, the supporting roller mechanism:

[0023] The base is disposed on the movable chassis;

[0024] The connecting rod has one end rotatably connected to the base;

[0025] A support roller is provided, which is connected to the other end of the connecting rod.

[0026] The elastic shock-absorbing structure is rotatably connected at one end to the base and at the other end to the fixed seat of the supporting roller.

[0027] Secondly, embodiments of this application provide a main cable maintenance robot, characterized in that it includes:

[0028] The aforementioned rope climbing device;

[0029] The inspection robot body is mounted on the mobile chassis and is used to inspect the main cable.

[0030] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: the mobile chassis is movably placed on two handrail ropes via a supporting roller mechanism, and the circumferential surface of the power pressure roller is in contact with the surface of the handrail ropes. Therefore, the power component drives the power pressure roller to rotate, and the power pressure roller acts on the surface of the handrail ropes. The rollers of the supporting roller mechanism roll along the handrail ropes, thereby allowing the mobile chassis to slide smoothly along the handrail ropes. At this time, the maintenance robot body on the mobile chassis performs maintenance on the main cable.

[0031] Therefore, compared to the intermittent creeping climbing motion along the rope, in this application, the mobile chassis can continuously travel along the handrail rope under the action of the power mechanism. Obviously, the rope climbing device has the advantage of fast climbing speed, and correspondingly, the working efficiency of the main cable maintenance robot is improved. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the rope crawling device according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the rope climbing device using a handrail rope according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the assembly structure of the power mechanism and the adjustment mechanism according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of the driving component according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the assembly structure of the mobile chassis and the supporting roller mechanism according to an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the supporting roller mechanism according to an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the first structure of the handrail rope and the power pressure roller according to an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of a second structure of the handrail rope and the power pressure wheel according to an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram of a third structure for the handrail rope and the power pressure roller according to an embodiment of the present invention.

[0041] The meanings of the reference numerals in the attached drawings are as follows: 10, rope climbing device; 101, main cable; 102, handrail rope; 100, movable chassis; 200, support roller mechanism; 210, base; 220, support roller; 230, connecting rod; 240, elastic shock absorption structure; 300, power mechanism; 310, power component; 320, power pressure roller; 400, pressure sensor; 500, adjusting mechanism; 510, lead screw; 520, guide nut; 530, driving component; 531, drive motor; 532, first transmission wheel; 533, second transmission wheel; 534, synchronous belt; 540, connecting seat; 600, linear guide mechanism; 610 guide rail seat; 620, slide table. Detailed Implementation

[0042] To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.

[0043] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0045] The present invention will now be described in further detail with reference to the accompanying drawings.

[0046] Please see Figures 1 to 3A rope climbing device 10 provided in this embodiment of the invention includes a movable chassis 100, a support roller mechanism 200, and at least two power mechanisms 300. The rollers of the support roller mechanism 200 are used to roll along the handrail rope 102 to support the movable chassis 100 moving along the handrail rope 102. Each power mechanism 300 includes a connected power component 310 and a power pressure roller 320. The power component 310 is disposed on the movable chassis 100 and is used to drive the power pressure roller 320 to rotate. The power pressure rollers 320 of the two power mechanisms 300 are used to press against two parallel handrail ropes 102, either opposite to each other, so that the power component 310 can drive the power pressure roller 320 to roll along the handrail rope 102.

[0047] The rotation center axis of the power pressure roller 320 is set approximately perpendicular to the rotation center axis of the roller of the support roller mechanism 200, that is, the rotation center axis of the power pressure roller 320 is set at 90°±15° to the rotation center axis of the roller of the support roller mechanism 200.

[0048] Specifically, the mobile chassis 100 is movably placed on two handrail ropes 102 via a support roller mechanism 200, and the circumferential surface of the power pressure roller 320 is in contact with the surface of the handrail ropes 102. Therefore, the power unit 310 drives the power pressure roller 320 to rotate, and the power pressure roller 320 acts on the surface of the handrail ropes 102. The rollers of the support roller mechanism 200 roll along the handrail ropes 102, thereby allowing the mobile chassis 100 to slide smoothly along the handrail ropes 102. At this time, the maintenance robot body on the mobile chassis 100 performs maintenance on the main cable 101.

[0049] Therefore, compared to the intermittent creeping climbing motion along the rope, in this application, the mobile chassis 100 can continuously travel along the handrail rope 102 under the action of the power mechanism 300. Obviously, the rope climbing device 10 has the advantage of fast climbing speed, and correspondingly, the working efficiency of the main cable maintenance robot is improved.

[0050] It should be noted that if the power pressure rollers 320 of the two power mechanisms 300 are used to press against the two parallel handrail ropes 102, that is, the two power pressure rollers 320 are respectively located on the outer side of the handrail ropes 102, and one power pressure roller 320 presses against one handrail rope 102 towards the area between the two handrail ropes 102, and the other power pressure roller 320 presses against the other handrail rope 102 towards the area between the two handrail ropes 102; if the power pressure rollers 320 of the two power mechanisms 300 are used to press against the two parallel handrail ropes 102 in opposite directions, that is, the two power pressure rollers 320 are respectively located on the inner side of the handrail ropes 102, and one power pressure roller 320 presses against one handrail rope 102 towards the outer area between the two handrail ropes 102, and the other power pressure roller 320 presses against the other handrail rope 102 towards the outer area between the two handrail ropes 102. Thus, the two power rollers 320 cooperate to press the two handrail ropes 102, thereby ensuring that the two power rollers 320 and the handrail ropes 102 can be firmly supported, and thus ensuring that the power component 310 ensures that the moving chassis 100 travels stably along the handrail ropes 102 when driving the power rollers 320.

[0051] Furthermore, the rotation center axis of the power pressure roller 320 is set approximately perpendicular to the rotation center axis of the roller of the support roller mechanism 200. Therefore, the roller of the support roller mechanism 200 is placed on the upper side of the handrail rope 102, and the power pressure roller 320 presses against the left or right side of the handrail rope 102. With this arrangement, the rope climbing device 10 can be easily installed on the handrail rope 102 and can be easily removed from the handrail rope 102.

[0052] Furthermore, if a drive member 530 is provided on the support roller mechanism 200 to drive the rollers of the support roller mechanism 200 to move along the handrail rope 102, the friction between the rollers of the support roller mechanism 200 and the handrail rope 102 will be large, making the drive member 530 easily damaged when driving the rollers to rotate, seriously affecting the service life of the drive member 530. In this application, instead of driving the rollers of the support roller mechanism 200, the drive member 530 drives the power pressure roller 320 located on the side of the handrail rope 102, thus avoiding serious damage to the drive member 530 during operation.

[0053] To ensure the spacing between the two power mechanisms 300 matches the spacing between the two handrail ropes 102, refer to... Figure 1 and Figure 2 In some embodiments, the power mechanism 300 is adjustablely disposed on the mobile chassis 100 along the armrest rope 102, either away from or near it.

[0054] Specifically, if the power pressure roller 320 cannot hold the corresponding handrail rope 102 in place or the tension is insufficient, the power mechanism 300 adjusts towards the handrail rope 102, increasing the holding or tension between the power pressure roller 320 and the handrail rope 102. This allows the power pressure roller 320 to apply a sufficiently large force to the handrail rope 102 during rotation, ensuring that the power mechanism 300 can drive the movable chassis 100 to move along the handrail rope 102. Conversely, if the tension between the power pressure roller 320 and the corresponding handrail rope 102 is too large, the power mechanism 300 adjusts away from the handrail rope 102, reducing the tension between them. This prevents excessive friction between the power pressure roller 320 and the handrail rope 102 during rotation, thereby reducing wear on the power pressure roller 320 during rotation.

[0055] The power mechanism 300 is adjustablely mounted on the mobile chassis 100, and can be configured in various ways, such as manually adjustable power mechanism 300 mounted on mobile chassis 100, or automatically adjustable power mechanism 300 mounted on mobile chassis 100.

[0056] In some embodiments, refer to Figure 1 and Figure 3 The rope climbing device 10 also includes a pressure sensor 400, which is disposed in the power mechanism 300 and used to detect the force applied to the power pressure roller 320. Specifically, when adjusting the position of the power mechanism 300, if the detected value of the pressure sensor 400 is at a preset value, the adjustment of the position of the power mechanism 300 is stopped. At this time, the power pressure roller 320 and the handrail rope 102 maintain a stable contact, avoiding excessive contact.

[0057] In a further embodiment, the rope climbing device 10 also includes an adjustment mechanism 500 and a control module. The adjustment mechanism 500 is disposed on the movable chassis 100, and the power mechanism 300 is disposed on the adjustment mechanism 500. The adjustment mechanism 500 is used to drive the power pressure roller 320 away from or towards the handrail rope 102. A pressure sensor 400 is connected to the adjustment mechanism 500 and the power mechanism 300 to detect the force acting on the power pressure roller 320. The control module is electrically connected to the adjustment mechanism 500 and the pressure sensor 400, and controls the power pressure roller 320 to move away from or towards the handrail rope 102 based on the detection value of the pressure sensor 400.

[0058] Specifically, if the power pressure roller 320 is too far from the corresponding handrail rope 102 or the clamping force is insufficient, the adjustment mechanism 500 drives the power mechanism 300 to move closer to the handrail rope 102 until the detection value of the pressure sensor 400 is exactly the preset value. At this time, the control module controls the adjustment mechanism 500 to stop driving the power mechanism 300 to move towards the handrail rope 102. In this way, the power pressure roller 320 and the handrail rope 102 are stably supported, and excessive support is avoided, thereby ensuring that the power mechanism 300 stably drives the mobile chassis. 100 moves along the handrail rope 102; conversely, if the power pressure roller 320 is out of position or excessively close to the corresponding handrail rope 102, the adjustment mechanism 500 drives the power mechanism 300 to move away from the handrail rope 102 until the detection value of the pressure sensor 400 is exactly the preset value. At this time, the control module controls the adjustment mechanism 500 to stop driving the power mechanism 300 to move away from the handrail rope 102. In this way, the power pressure roller 320 and the handrail rope 102 do not excessively resist each other, thereby reducing the wear of the power pressure roller 320 during rotation.

[0059] In some embodiments, the rope climbing device 10 further includes a linear guide mechanism 600, which includes a slidably disposed guide rail seat 610 and a slide table 620. The guide rail seat 610 is connected to the power member 310, and the slide table 620 is connected to the adjustment mechanism 500. Alternatively, the positions of the two can be interchanged, in which case the power member 310 is slidably disposed on the adjustment mechanism 500. The main body of the pressure sensor 400 is connected to the adjustment mechanism 500, and the detection part of the pressure sensor 400 is connected to the power member 310. Thus, when the power pressure roller 320 is subjected to pressure from the handrail rope 102, the pressure sensor 400 detects the pressure on the power pressure roller 320. It is understood that through the arrangement of the linear guide mechanism 600, the pressure sensor 400 can be stably mounted on the adjustment mechanism 500 and the power member 310.

[0060] To achieve automatic adjustment of the power mechanism 300, in some embodiments, the rope crawling device 10 further includes an adjustment mechanism 500. The adjustment mechanisms 500 are arranged in equal numbers to the power mechanisms 300 and are connected to each other. Each adjustment mechanism 500 is mounted on the movable chassis 100 and is used to drive the power pressure roller 320 to move away from or towards the handrail rope 102. It is understood that each adjustment mechanism 500 has an independent adjustment mechanism 500, so that the position of the power pressure roller 320 of each power mechanism 300 can be independently controlled, thereby enabling the rope crawling device 10 to better adapt to the handrail rope 102.

[0061] Furthermore, the adjusting mechanism 500 includes a driving component 530, a lead screw 510, a guide nut 520, and a connecting seat 540. The two ends of the lead screw 510 are rotatably connected to the movable base 100. The guide nut 520 is threadedly connected to the lead screw 510 and slidably mounted on the movable base 100. The driving component 530 is fixedly mounted on the movable base 100 and is drively connected to the lead screw 510. Thus, the driving component 530 drives the lead screw 510 to rotate, and the guide nut 520 slides along the left-right direction of the movable base 100. Since the connecting seat 540 is connected to the guide nut 520, and the power mechanism 300 is assembled and connected to the connecting seat 540, the guide nut 520 drives the connecting seat 540 to slide left and right, thereby driving the power structure to move left and right, and thus adjusting the force exerted by the power pressure roller 320 on the handrail rope 102. It is understandable that the adjustment mechanism 500 adopts a lead screw 510 structure. The adjustment mechanism 500 can accurately adjust the position of the power mechanism 300, so that the power pressure roller 320 can be adjusted to a suitable position, thereby preventing the power pressure roller 320 from over-pressing the handrail rope 102 and ensuring that it is stably pressed against the handrail rope 102.

[0062] Furthermore, the driving component 530 includes a drive motor 531, a first transmission wheel 532, a second transmission wheel 533, and a synchronous belt 534. The drive motor 531 is fixedly connected to the movable chassis 100. The first transmission wheel 532 is fixedly connected to the drive shaft of the drive motor 531. The second transmission wheel 533 is fixedly connected to the end of the lead screw 510. The synchronous belt 534 is wound around the outer sides of the first transmission wheel 532 and the second transmission wheel 533. Therefore, the drive motor 531 drives the first transmission wheel 532 to rotate, the first transmission wheel 532 drives the second transmission wheel 533 to rotate synchronously via the synchronous belt 534, and the second transmission wheel 533 drives the lead screw 510 to rotate synchronously, thereby achieving the adjustment of the subsequent transmission mechanism.

[0063] To achieve automatic adjustment of the power mechanism 300, in another possible embodiment, the rope crawling device 10 further includes an adjustment mechanism 500. The adjustment mechanism 500 is disposed on the mobile chassis 100 and connected to the two power mechanisms 300. The adjustment mechanism 500 is used to simultaneously drive the two power mechanisms 300 to move relative to each other. It is understood that compared to having an adjustment mechanism 500 for each power mechanism 300, using the adjustment mechanism 500 to simultaneously drive the two power mechanisms 300 to move relative to each other saves on the power source and reduces manufacturing costs.

[0064] The adjustment mechanism 500 can use various structures to drive the two power mechanisms 300 to move relatively far apart or close together. For example, it can use a two-way screw, a conveyor belt, or other adjustment structures, which will not be described in detail here.

[0065] In some embodiments, refer to Figure 1 The rope climbing device 10 includes at least four power mechanisms 300. The power pressure rollers 320 of at least two power mechanisms 300 act on one handrail rope 102, and the power pressure rollers 320 of at least two power mechanisms 300 act on another handrail rope 102. The power pressure rollers 320 of each power mechanism 300 are located on the outer side of the parallel handrail ropes 102 (see reference). Figure 9 The power pressure rollers 320 of each power mechanism 300 are located on the inner side of the parallel handrail ropes 102 (see reference). Figure 8 Alternatively, each handrail rope 102 may be equipped with a power pressure roller 320 on both its inner and outer sides (see reference). Figure 7 It is understandable that with the power pressure rollers 320 of the four power mechanisms 300 arranged as described above, the rope crawling device 10 can be stably placed on the parallel handrail ropes 102 and crawl stably along the handrail ropes 102.

[0066] In some embodiments, refer to Figure 1 There are four support roller mechanisms 200, but not limited to only four, located at the four corners of the movable chassis 100. Each support roller mechanism 200 includes a base 210, a connecting rod 230, a support roller 220, and an elastic damping structure 240. The base 210 is mounted on the movable chassis 100. One end of the connecting rod 230 is rotatably connected to the base 210. The fixed seat of the support roller 220 is connected to the other end of the connecting rod 230. One end of the elastic damping structure 240 is rotatably connected to the base 210, and the other end is rotatably connected to the fixed seat of the support roller 220. The elastic damping structure 240 can be a shock absorber.

[0067] It is understandable that the support roller mechanism 200 with the above structure can rotate up and down through the connecting rod 230 during travel along the handrail rope 102, and is held on the handrail rope 102 by the elastic damping structure 240. In this way, the support roller mechanism 200 has a damping effect during travel.

[0068] This application discloses a main cable 101 maintenance robot, including a rope crawling device 10 and a maintenance robot body, wherein the maintenance robot body is mounted on a mobile chassis 100 and is used for maintaining the main cable 101.

[0069] Specifically, the mobile chassis 100 is movably placed on the two handrail ropes 102 via the support roller mechanism 200, and the circumferential surface of the power pressure roller 320 is in contact with the surface of the handrail ropes 102. Therefore, the power unit 310 drives the power pressure roller 320 to rotate, the power pressure roller 320 acts on the surface of the handrail ropes 102, the rollers of the support roller mechanism 200 roll along the handrail ropes 102, the mobile chassis 100 slides smoothly along the handrail ropes 102, and the maintenance robot body on the mobile chassis 100 performs maintenance on the main cable 101.

[0070] Therefore, compared to the intermittent creeping climbing motion along the rope, in this application, the mobile chassis 100, under the action of the power mechanism 300, moves continuously along the handrail rope 102 in a wheel-like manner. Obviously, the rope climbing device 10 has the advantage of fast climbing speed. Correspondingly, the maintenance robot body performs efficient maintenance on the main cable 101.

[0071] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A rope crawling device, characterized in that, include: Mobile chassis; A support roller mechanism, wherein the rollers of the support roller mechanism are used to roll along the handrail rope to support the movement of the movable chassis along the handrail rope; At least two power mechanisms, each of which includes a power component and a power pressure roller connected together, wherein the power component is disposed on the mobile chassis and is used to drive the power pressure roller to rotate; Among them, the power pressure rollers of the two power mechanisms are used to press against two parallel handrail ropes in opposite or opposite directions, so that the power component can drive the power pressure rollers to roll along the handrail ropes; The power mechanism can be adjusted to be located away from or near the handrail rope on the mobile chassis; The rope crawling device also includes a pressure sensor, which is disposed on the power mechanism and is used to detect the force applied to the power pressure wheel; The rope crawling device also includes: An adjustment mechanism, located on the movable chassis, is used to drive the power pressure roller away from or closer to the handrail rope. The pressure sensor is connected to the adjustment mechanism and the power mechanism to detect the force applied to the power pressure roller. The control module is electrically connected to the adjustment mechanism and the pressure sensor. Based on the detection value of the pressure sensor, the control module controls the power pressure roller to move away from or closer to the handrail rope through the adjustment mechanism. The rope crawling device further includes a linear guide mechanism, which includes a slidably disposed guide rail seat and a slide table, wherein one of the guide rail seat and the slide table is disposed on the power component, and the other is disposed on the adjustment mechanism; The adjusting mechanism and the power mechanism are provided in equal numbers and connected one by one; Alternatively, the adjustment mechanism is disposed on the mobile chassis and connected to the two power mechanisms, for driving the two power mechanisms to move away from or towards each other; The adjustment mechanism includes a drive component, a lead screw, and a guide nut. The lead screw is rotatably mounted on the movable chassis. The drive component is mounted on the movable chassis and is used to drive the lead screw to rotate. The guide nut is slidably mounted on the movable chassis and is threadedly connected to the lead screw. The power mechanism is connected to the guide nut.

2. The rope climbing device according to claim 1, characterized in that, The rope climbing device includes at least four power mechanisms, at least two of which are used to act on one handrail rope and at least two of which are used to act on another handrail rope.

3. The rope climbing device according to claim 1, characterized in that, The supporting roller mechanism includes: The base is disposed on the movable chassis; The connecting rod has one end rotatably connected to the base; A support roller is provided, which is connected to the other end of the connecting rod. The elastic shock-absorbing structure is rotatably connected at one end to the base and at the other end to the fixed seat of the supporting roller.

4. A main cable maintenance robot, characterized in that, include: The rope climbing device according to any one of claims 1 to 3; The inspection robot body is mounted on the mobile chassis and is used to inspect the main cable.

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