Self-adapting turning quick-release cable-rail inspection robot

Abstract

The application discloses a quick-release cable rail inspection robot capable of self-adaptive turning, which comprises a cable rail, a frame, a swing module, a driving system, a control module, a shooting system, a charging system and a data transmission system. The cable rail comprises a rope, a curved rail and a fixing device thereof, and provides a movement space and a guide for the inspection robot; the frame provides mounting holes and ensures the rigidity of the whole robot; the swing module comprises a side wing floating assembly and a driven groove wheel, and realizes turning by self-adaptive turning track curvature; the driving system realizes the movement of the robot on the cable rail through a motor and a main driven groove wheel; the control module realizes the movement control of the whole device; the shooting system is used for completing the inspection and shooting tasks; the charging system provides a magnetic charging panel for the robot; and the data transmission system can transmit the shooting data to a PC end in real time. The application realizes positioning and movement in a complex environment by driving a shooting cloud platform through the cable rail and a wheeled movement mechanism, and realizes a large-range and movable shooting task at low cost.

Description

Technical Field

[0001] This invention relates to the fields of robotics, automation, and safe production technology, and in particular to a quick-release cableway inspection robot with adaptive turning capability. Background Technology

[0002] The application of advanced technologies such as robotics, big data, artificial intelligence, and the ubiquitous Internet of Things in the industrial sector is becoming increasingly widespread. Mobile inspection equipment equipped with cameras has gradually become a new solution for maintenance operations. Especially in enterprises with relatively harsh environments such as power plants, pumping stations, and steel manufacturing plants, inspection robots can overcome the problems of low data entry efficiency and low detection rate faced by traditional manual inspection methods. At the same time, with the addition of functional modules such as image recognition, infrared temperature measurement, vibration measurement, and sound pickup, inspection methods are enriched and inspection quality is improved.

[0003] Existing inspection equipment mainly includes multi-rotor drones, wheeled robots, and tracked robots. Multi-rotor drones are primarily used in large outdoor spaces, but due to limited endurance, they are mostly used for short-term monitoring and filming. Wheeled robots can walk autonomously on the ground, but they have certain requirements for the ground environment and are difficult to handle complex terrains and environments such as stairs. Inspection robots based on rigid tracks can perform long-term, fixed-track inspections, have long endurance, high automation, and no interference with ground equipment, offering significant advantages. However, rigid tracks have high deployment costs, long installation cycles, and require significant modifications to the building structure.

[0004] Therefore, in order to meet the needs of large-scale mobile inspection in complex manufacturing environments, it is necessary to study a new type of cable-rail intelligent inspection device. This device can not only achieve large-scale motion imaging and adapt to various complex working conditions, but also has the advantages of low manufacturing cost, lightweight, easy disassembly, and good reconfigurability, and can undertake various types of inspection tasks. Summary of the Invention

[0005] To address the problems of high cost, stringent environmental requirements for track layout, and difficulties in disassembly and maintenance in existing intelligent inspection solutions, this invention proposes an adaptive turning quick-release cable-rail inspection robot. This robot has significant advantages: its flexible track can adapt to different application scenarios, is easy to deploy, and has a low cost; its lightweight design allows it to carry more functional accessories to meet more diverse functional requirements.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] An adaptive turning quick-release cable-rail inspection robot includes a cable rail 1, a frame 2, a swing module 3, a drive system 4, a control module 5, a shooting system 6, a charging system 7, and a data transmission system 8. The cable rail provides movement space and guidance for the entire device, including a rope 11 and a curved rail 15 and their fixing devices. The curved rail 15 is connected to the turning point of the rope 11. The frame 2, swing module 3, drive system 4, control system 5, and shooting system 6 are hung on the rope 11 and move in a straight line along the rope 11, and make adaptive turns along the curved rail 15.

[0008] The frame 2 includes a front mounting plate 21, a rear mounting plate 22, a support column 23 connecting the front and rear mounting plates, a ball bearing roller 24, and a gimbal connection device 25, which provides the framework for the entire robot and mounting holes for components; the ball bearing roller 24 on the front mounting plate 21 contacts the bottom of the curved rail 15 to prevent the inspection robot from tipping over due to inertia.

[0009] The swing module 3 achieves turning by swinging to adapt to the curvature of the curved rail 15. It includes a side wing 31, a floating block 32, a spring 33, a driven grooved wheel 34, and an internal hex bolt 35. The side wings 31 are symmetrically installed on both sides of the rear mounting plate 22. The driven grooved wheel 34 is installed on the floating block 32 through its shaft. The floating block 32 is embedded in the side wing 31. The floating block 32 has a circular groove that is fixed to the spring 33. The spring 33 is sleeved on the internal hex bolt 35, which passes through the side wing 31. The driven grooved wheel 34 is connected to the side wing 31 only by the floating block 32. When the inspection robot stops working or is being repaired or inspected, the rope 11 is separated from the driven grooved wheel, the robot is lifted upwards, and the floating block 32 falls off, realizing the quick disassembly of the driven grooved wheel 34.

[0010] The drive system 4 and the swing module 3 work together to realize the motion function of the entire robot. The drive system includes a DC brushless motor 41, an active pulley 43, an active belt shaft 44, an active pulley 45, a driven pulley 46 and a synchronous belt 47. The active pulley 45 is directly connected to the output end of the DC brushless motor 41. The active pulley 44 is coaxially connected to the active pulley 43. The active pulley 43 is installed between the front mounting plate 21 and the rear mounting plate 22.

[0011] The control module includes a control panel 51, a controller 52, a battery 53, and a remote control handle 55, which realizes the motion control function of the entire robot.

[0012] The shooting system 6 includes a gimbal 61 and a shooting device 62 connected to each other, used to complete the inspection shooting task;

[0013] The charging system provides wireless charging for the inspection robot;

[0014] The data transmission system consists of a memory card 81 and a transmission device 82, providing the device with functions of temporary data storage and real-time transmission.

[0015] Two sets of swing modules 3 are symmetrically distributed on both sides of the active groove wheel 43. The distance from the pivot of the side wing 31 to the center of the driven groove wheel on the same side is half the distance between the pivots of the two side wings 31. Geometrically, this satisfies the requirement that when turning, the two driven groove wheels are tangent to the active groove wheel at a circle with a radius equal to the curvature of the turning radius. The swing modules on both sides can adapt to curved tracks with different curvatures.

[0016] There is a height difference between the driven groove wheel 34 and the driving groove wheel 43. The distance between the horizontal tangent line directly below the driven groove wheel 34 and the horizontal tangent line directly above the driving groove wheel 43 is adjusted by pressing down with the spring 33 to increase the friction and adapt to ropes 11 with different tension and inclination.

[0017] The charging system 7 includes a magnetic charging panel 71 and a panel bracket 72, which are fixed to the column 14 connected to the end of the rope 11. When the robot moves to the location of the charging system, the battery fixing buckle 54 is attracted to the magnetic charging panel 71, which can realize the automatic charging of the inspection robot.

[0018] The control module has a power warning and interruption function. When the control module detects that the battery power is insufficient to complete the remaining inspection tasks, it can interrupt the current inspection task, control the robot to automatically move to the charging system location, and move the robot to the nearest charging interface. After the power is replenished, the inspection task can continue.

[0019] The inspection robot has a self-checking function, which includes checking the working status of the charging system 7, drive system 4, data transmission system 8 and shooting system 6. When an abnormality is detected, it provides an on-site indication and uploads the fault information simultaneously. If the network fails or the robot travels to an area with a weak signal, the memory card 81 has the ability to completely store the inspection data.

[0020] The drive system 4 can adjust speed from both mechanical and electrical control perspectives. Mechanically, the rotation generated by the brushless DC motor 41 is transmitted to the drive pulley 43 via a primary belt drive reduction mechanism consisting of the drive pulley 45, synchronous belt 47, and driven pulley 46. Due to the friction between the rope 11 and the drive pulley 43, and the stationary nature of the rope 11, the drive pulley 43 ultimately drives the entire robot to move along the rope 11. The size of the drive pulley 45 in the primary belt drive reduction mechanism is adjustable, enabling changes in the transmission ratio and mechanical speed adjustment. Electrically, different duty cycles are obtained by setting delay times in the controller 52, thus adjusting the speed of the brushless DC motor 41.

[0021] The swing module 3 also includes a hinge bolt 36 installed on the driven groove wheel shaft. The hinge bolt 36 plays a guiding and limiting role when the robot enters the curved track 15, preventing the driven groove wheel 34 from disengaging from the curved track 15.

[0022] The brushless DC motor 41 is equipped with a cooling fan 42.

[0023] The control module implements multiple motion control modes. Control mode one is an unattended cruise mode, in which the robot can work in a loop within the entire cableway until manually stopped. Control mode two is a preset path cruise mode, in which the controller 52 automatically reciprocates according to a pre-programmed path planning program to perform reciprocating inspection of a certain path. Control mode three is a manual remote control mode, in which the controller 52 receives control signals from the remote control handle 55 and starts, stops, accelerates, decelerates, and reverses the movement according to the operator's real-time instructions. In addition, the controller 52 can also automatically track the monitored object. Different control modes can be switched through the control panel 51.

[0024] The gimbal 61 is connected to the gimbal connection device 25 at the bottom of the frame 2. The gimbal 61 enables all-round attitude adjustment of the shooting device 62, thereby covering the space required for the inspection task.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The adaptive turning quick-release cable rail inspection robot provided by this invention can be widely used in a series of indoor and outdoor industrial production operation scenarios such as high and low voltage power distribution rooms, water pumping stations, steel plants, and thermal power plants. It has significant advantages, especially in inspection situations where it is difficult to lay hard rails, the available space is limited, and the temperature difference is large.

[0027] 2. The adaptive turning quick-release cable rail inspection robot provided by the present invention has the advantages of simple structure, low cost, simple processing and assembly, large load-bearing capacity, high running accuracy, good stability and strong adaptability.

[0028] 3. The adaptive turning quick-release cable-stayed inspection robot provided by this invention uses the frame 2, swing module 3, drive system 4, and control module 5 moving along the cable as the primary mechanism, and the shooting system 6 as the secondary mechanism, to achieve omnidirectional stable shooting in the linear dimension. Using a cable with adjustable length and tension as the motion track achieves high adaptability to the shooting range, meeting the requirements for a wide shooting range. The swing module 3, which can move with the curved track, provides adaptive turning functionality, overcoming the limitation of cable-stayed robots on the market that are only used in linear motion scenarios. The floating block 32 connecting the driven grooved wheel 34 makes the entire device easy to disassemble. The distance between the driven grooved wheel 34 and the driving grooved wheel 43 can be adjusted in the height direction by the spring 33, allowing the device to meet the friction requirements of ropes with different tensions and inclinations, improving adaptability to different working environments. The inspection robot's speed adjustment has both mechanical and electronic control methods, enabling multi-level inspection speed functionality. The automatic inspection function and self-charging function greatly improve work efficiency, reduce manpower and material input, and achieve the goal of cost reduction and efficiency improvement. Attached Figure Description

[0029] Figure 1 This is an overall schematic diagram of an adaptive turning quick-release cableway inspection robot according to the present invention.

[0030] Figure 2 This is a front view of the wheeled motion system of a quick-release cable-stayed inspection robot with adaptive turning capability according to the present invention.

[0031] Figure 3 This is a rear view of the wheeled motion system of a quick-release cable-stayed inspection robot with adaptive turning capability, according to the present invention.

[0032] Figure 4 This is a schematic diagram of the rapid assembly and disassembly of the floating block of a quick-release cableway inspection robot that adapts to turning, according to the present invention.

[0033] Figure 5 This is a schematic diagram of a quick-release cableway inspection robot with adaptive turning capability according to the present invention.

[0034] Figure 6 This is a schematic diagram of the charging system of an adaptive turning quick-release cableway inspection robot according to the present invention.

[0035] Figure 7 This is a schematic diagram illustrating an application scenario of the adaptive turning quick-release cableway inspection robot of the present invention. Detailed Implementation

[0036] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings and examples.

[0037] like Figure 1The diagram shows a quick-release cable-stayed inspection robot with adaptive turning capability. This robot consists of a cableway 1, a frame 2, a swing module 3, a drive system 4, a control module 5, a camera system 6, a charging system 7, and a data transmission system 8. The frame 2, swing module 3, drive system 4, and control module 5 form the motion system. The swing module 3, drive system 4, control module 5, and camera system 6 are all mounted on the frame 2.

[0038] The cableway 1 acts as a guide rail and includes a rope 11, a rope connecting device 12, a connecting sleeve 13, a column 14, a curved rail 15, supporting angle steel 16, and angle steel connectors 17. The curved rail 15 is connected to the bend of the rope 11. The rope 11 is connected to the column 14 through the rope connecting device 12 and the connecting sleeve 13. The curved rail 15 is connected to the column 14 through the supporting angle steel 16 and the angle steel connectors 17. The entire robot is suspended on the rope 11 and can move in a straight line along the rope 11 and make adaptive turns along the curved rail 15.

[0039] Frame 2 consists of a front mounting plate 21, a rear mounting plate 22, and a support column 23 between them. The front mounting plate 21 and the rear mounting plate 22 are fixed together by the support column 23 and bolts and nuts, forming an installation space between them for mounting the drive wheel 43. The drive wheel 43 is mounted in the center of frame 2, and the swing modules are mounted on the left and right sides of the rear mounting plate 22, symmetrical about the drive wheel 43. The drive system 4 and the control module 5 are mounted on the front mounting plate 21 and the rear mounting plate 22 of frame 2. The gimbal connection device 25 is located at the bottom of frame 2 and is used to connect the shooting system 6. The battery 53 is mounted on the side of frame 2.

[0040] Figure 2 , Figure 3 These are the front and rear views of a quick-release cable-stayed inspection robot motion system with adaptive turning capability, as described in this invention, illustrating the robot's motion principle. Combined with... Figure 2 and Figure 3 Explain the robot's motion implementation methods, structural adjustment capabilities, and motion transmission process.

[0041] The drive system 4 consists of a DC brushless motor 41, a cooling fan 42, a driving pulley 43, a driving pulley shaft 44, a driving pulley 45, a driven pulley 46, and a synchronous belt 47. Figure 1 and Figure 3As shown, the active pulley 45 is directly connected to the output end of the brushless DC motor 41, and the active pulley 44 is coaxially connected to the active slotted pulley 43. The rotation generated by the brushless DC motor 41 is transmitted to the active slotted pulley 43 after passing through the primary belt drive reduction mechanism composed of the active pulley 45, the driven pulley 46, and the synchronous belt 47. Due to the friction between the rope 11 and the active slotted pulley 43 and the stationary nature of the rope, the active slotted pulley 43 ultimately drives the entire robot to move. The transmission ratio of the reduction mechanism can be changed by adjusting the size of the active pulley 45 in the primary belt drive reduction mechanism. Therefore, different sizes of active pulleys 45 can be replaced according to the speed classification requirements of the entire robot, allowing for mechanical adjustment. Alternatively, a corresponding program can be written into the controller 52 to achieve different duty cycles by setting the delay time through pulse width modulation speed regulation, thus completing the speed adjustment of the motor. The fan 42 is used for cooling the brushless DC motor 41.

[0042] The oscillating module consists of side wings 31, a floating block 32, a spring 33, a driven grooved wheel 34, an internal hex bolt 35, a hinge bolt 36, and a double-eared nut 37. Two oscillating modules are symmetrically mounted on both sides of the driving grooved wheel 43. The driven grooved wheel 34 is mounted on the floating block 32 via its shaft and the double-eared nut 37. Figure 4 As shown, the floating block 32 is embedded in the side wing 31. A circular groove on the floating block 32 is fitted with a spring 33, which is then sleeved on a hexagonal socket head cap screw 35 that passes through the side wing 31. The driven pulley 34 is connected to the side wing 31 solely by the floating block 32. When the inspection robot stops working or is undergoing maintenance or inspection, the rope 11 is separated from the driving pulley 43, and the robot is lifted upwards. The floating block 32 then detaches, allowing for quick disassembly of the driven pulley 34. This design allows the driven pulley assembly 34 to move slightly up and down, adaptively adjusting the distance between the driving pulley 43 and the driven pulley 34, ensuring the wrap angle and friction between the rope 11 and the driving and driven pulleys 43 and 34, preventing slippage during movement. The hinge bolt 36 acts as a limit hook when the device bends, preventing the device from detaching from the cableway 1. Figure 5 As shown.

[0043] Control module 5 consists of control panel 51, controller 52, battery 53, battery retainer 54, and remote control handle 55, as follows: Figure 1 and 2As shown. The control panel 51 and controller 52 are mounted on the front mounting plate 21, and the battery 52 is mounted on the side of the frame 2 via the power supply fixing clip 53. The installation of each device should meet the principle of uniform mass distribution, and try to ensure that the overall center of gravity is located at the geometric center of the device. For example, the DC brushless motor 41 and battery 52 are respectively mounted on the left and right sides of the front mounting plate 21, so that the load on both sides is basically balanced about the center. The inspection robot can realize multiple motion control modes. Control mode one is unattended cruise mode. After activating this mode, the robot can work in a loop within the entire cableway until it is stopped manually. Control mode two is preset path cruise mode. The controller 52 can realize automatic reciprocating motion according to the pre-programmed path planning program to realize reciprocating inspection of a certain path. Control mode three is manual remote control mode. The controller 52 can receive control signals from the remote control handle 55 and realize start, stop, acceleration, deceleration, and reversing movements according to the operator's real-time instructions. In addition, the controller 52 can also combine intelligent algorithms to realize automatic tracking of the monitored object. Different control modes can be switched through the control panel 51. Regardless of the mode, when the battery power is low, the device will interrupt the current task and send instructions to the cloud via the data transmission device 82, recording the interruption time. It will then automatically move to the nearest charging station, replenish the battery, and return to the interrupted location to continue its inspection. Figure 6 As shown.

[0044] The shooting system 6 consists of a gimbal 61 and a shooting device 62. The gimbal 61 is connected to the gimbal connection device 25 at the bottom of the frame 2 and fixed directly below the inspection robot, ensuring that the robot's center of gravity does not shift. The shooting system 6 is mounted on the bottom of the robot. The gimbal 61 can adjust the attitude of the shooting device 62 in all directions, thereby covering the space required for the inspection task.

[0045] The charging system 7 consists of a magnetic charging panel 71 and a panel bracket 72, providing a wireless self-charging interface for the inspection device.

[0046] The data transmission system 8 consists of a memory card 81 and a transmission device 82, providing the device with functions of temporary data storage and real-time transmission.

[0047] Figure 7This illustration shows an application scenario of the robot of the present invention. Rope 11 passes through rope connecting device 12 and is connected and fixed via connecting sleeve 13. Rope connecting device 12 is mounted on column 14. Curved rail 15 is fixed to angle steel connector 17 via supporting angle steel 16, which is also mounted on column 14. The specific form of column 14 can be determined according to the actual working conditions; trees, walls, scaffolding, etc., can all serve as columns 14, and rope connecting points 12 can be installed on them. Only the fixation of rope 11 and curved rail 15 is required. Therefore, the robot of the present invention has extremely strong environmental adaptability and can function in various environments. The distance between the two connection points of rope 11 can reach tens or even hundreds of meters, allowing the inspection robot to cover a very large working range.

[0048] It is worth noting that although the technical solutions and preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the specific embodiments described above. The embodiments described above are merely illustrative. Those skilled in the art can make many other forms based on the inspiration of the present invention without departing from the spirit and scope of the claims, and these all fall within the scope of protection of the present invention.

Claims

1. An adaptive turning quick-release cable-stayed inspection robot, comprising a cableway (1), a frame (2), a swing module (3), a drive system (4), a control module (5), a camera system (6), a charging system (7), and a data transmission system (8), characterized in that: The cableway provides movement space and guidance for the entire device, including a rope (11) and a curved rail (15) and their fixing devices. The curved rail (15) is connected to the bend of the rope (11). The frame (2), swing module (3), drive system (4), control module (5) and shooting system (6) are hung on the rope (11) and move in a straight line along the rope (11) and make adaptive turns along the curved rail (15). The frame (2) includes a front mounting plate (21), a rear mounting plate (22), a support column (23) connecting the front and rear mounting plates, a ball bearing roller (24), and a gimbal connection device (25), which builds the structure for the entire robot and provides mounting holes for components; the ball bearing roller (24) on the front mounting plate (21) contacts the bottom of the curved rail (15) to prevent the inspection robot from tipping over due to inertia; The swing module (3) turns by swinging to adapt to the curvature of the curved rail (15); it includes a side wing (31), a floating block (32), a spring (33), a driven groove wheel (34), and an internal hex bolt (35). The side wing (31) is symmetrically installed on both sides of the rear mounting plate (22). The driven groove wheel (34) is installed on the floating block (32) through its shaft. The floating block (32) is embedded in the side wing (31). The floating block (32) has a circular groove that is inlaid and fixed with the spring (33). The spring (33) is sleeved on the internal hex bolt (35). The internal hex bolt (35) passes through the side wing (31). The driven groove wheel (34) is connected to the side wing (31) only by the floating block (32). When the inspection robot stops working or is being repaired and inspected, the rope (11) is separated from the active groove wheel, the robot is lifted up, and the floating block (32) falls off, realizing the quick disassembly of the driven groove wheel (34). The drive system (4) and the swing module (3) work together to realize the motion function of the whole robot. The drive system includes a DC brushless motor (41), an active pulley (43), an active belt shaft (44), an active pulley (45), a driven pulley (46), and a synchronous belt (47). The active pulley (45) is directly connected to the output end of the DC brushless motor (41). The active pulley (45) and the active pulley (43) are coaxially connected. The active pulley (43) is installed between the front mounting plate (21) and the rear mounting plate (22). The control module includes a control panel (51), a controller (52), a battery (53), and a remote control handle (55) to realize the motion control function of the entire robot; The shooting system (6) includes a gimbal (61) and a shooting device (62) connected to each other, used to complete the inspection shooting task; The charging system provides wireless charging for the inspection robot; The data transmission system consists of a memory card (81) and a transmission device (82), providing the device with the functions of temporary data storage and real-time transmission; The swing module (3) is provided in two sets, symmetrically distributed on both sides of the active groove wheel (43); the distance from the rotation axis of the side wing (31) to the center of the driven groove wheel on the same side is half the distance between the rotation axes of the two side wings (31). Geometrically, it can satisfy that when going through a bend, the two driven groove wheels are tangent to the active groove wheel at a circle with a radius equal to the curvature of the bend. The swing modules on both sides can adapt to curved tracks with different curvatures. There is a height difference between the driven groove wheel (34) and the driving groove wheel (43). The distance between the horizontal tangent line directly below the driven groove wheel (34) and the horizontal tangent line directly above the driving groove wheel (43) is adjusted by pressing down with the spring (33) to increase the friction force and adapt to ropes (11) with different tension and inclination.

2. The adaptive turning quick-release cableway inspection robot according to claim 1, characterized in that, The charging system (7) includes a magnetic charging panel (71) and a panel bracket (72), which are fixed on a column (14) connected to the end of a rope (11). When the robot moves to the location of the charging system, the battery fixing buckle (54) is attracted to the magnetic charging panel (71) to realize the automatic charging of the inspection robot. The control module has a power warning and interruption function. When the control module detects that the battery power is insufficient to complete the remaining inspection tasks, it can interrupt the current inspection task, control the robot to automatically move to the charging system location, and move the robot to the nearest charging interface. After the power is replenished, the inspection task can continue.

3. The adaptive turning quick-release cableway inspection robot according to claim 1, characterized in that: It has a self-test function, and the self-test content includes the working status of the charging system (7), driving system (4), data transmission system (8) and shooting system (6). When an abnormality is detected, it provides an on-site indication and uploads fault information synchronously. If the network fails or the vehicle travels to a place with a weak signal, the memory card (81) has the ability to fully store the inspection data.

4. The adaptive turning quick-release cableway inspection robot according to claim 1, characterized in that: The drive system (4) can achieve speed regulation from both mechanical and electrical control perspectives. From a mechanical perspective, the rotation generated by the DC brushless motor (41) is transmitted to the active pulley (43) after passing through the first-stage belt drive reduction mechanism composed of the active pulley (45), synchronous belt (47), and driven pulley (46). Due to the friction between the rope (11) and the active pulley (43) and the immobility of the rope (11), the active pulley (43) ultimately drives the entire robot to move along the rope (11). The size of the active pulley (45) of the first-stage belt drive reduction mechanism is adjustable, realizing the change of the mechanism transmission ratio and the mechanical speed adjustment capability. From an electrical control perspective, different duty cycles are obtained by setting the delay time in the controller (52), thus completing the speed regulation of the DC brushless motor (41).

5. The adaptive turning quick-release cableway inspection robot according to claim 1, characterized in that: The swing module (3) also includes a hinge bolt (36) installed on the driven groove wheel shaft. The hinge bolt (36) plays a guiding and limiting role when the robot enters the curved track (15) to prevent the driven groove wheel (34) from leaving the curved track (15).

6. The adaptive turning quick-release cableway inspection robot according to claim 1, characterized in that: The brushless DC motor (41) is equipped with a cooling fan (42).

7. The adaptive turning quick-release cableway inspection robot according to claim 1, characterized in that: The control module implements multiple motion control modes. Control mode one is an unattended cruise mode. After activating this mode, the robot can work in a loop within the entire cableway until it is manually stopped. Control mode two is a preset path cruise mode. The controller (52) automatically reciprocates according to the pre-programmed path planning program to perform reciprocating inspection of a certain path. Control mode three is a manual remote control mode. The controller (52) receives control signals from the remote control handle (55) and starts, stops, accelerates, decelerates, and reverses the movement according to the operator's real-time instructions. In addition, the controller (52) can also automatically track the monitored object. Different control modes can be switched through the control panel (51).

8. The adaptive turning quick-release cableway inspection robot according to claim 1, characterized in that: The gimbal (61) is connected to the gimbal connection device (25) at the bottom of the frame (2). The gimbal (61) enables the all-round attitude adjustment of the shooting device (62), thereby covering the space required for the inspection task.

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