Bridge cable detection robot with controllable flexible suspension

Abstract

The application discloses a bridge cable detection robot with controllable flexible suspension, and relates to the technical field of bridge cable detection robots.The application comprises a frame mechanism, the frame mechanism comprises a plurality of support arms, every two support arms are used in cooperation, the two ends of the same group of support arms are respectively detachably provided with a first mounting plate and a second mounting plate, and the upper and lower ends of the first mounting plate are symmetrically provided with two groups of active climbing mechanisms.The application adopts the controllable flexible suspension as a whole, is simple in structure, convenient to disassemble and assemble, and through cooperation with the lifting mechanism, the active climbing mechanism and the driven climbing mechanism, the detection robot has strong obstacle crossing ability and climbing efficiency, can be adapted to cables with different diameters, and through the anti-deviation mechanism, the anti-deviation wheel can always abut against the surface of the cable during the climbing and obstacle crossing of the robot, so that the cable always remains at the center position of the device, and the climbing failure caused by cable deviation is avoided.

Description

Technical Field

[0001] This invention relates to the field of bridge cable inspection robot technology, specifically a bridge cable inspection robot with a controllable flexible suspension. Background Technology

[0002] As a core component of suspension and cable-stayed bridges, cables are constantly exposed to air and subjected to the effects of wind, sun, rain, and freezing, which can cause various forms of damage to the PE sheath on the cable surface, seriously affecting the safety of the bridge. Therefore, it is necessary to regularly inspect and maintain the cables.

[0003] Currently, cable-climbing robots are mainly classified into wheeled, magnetic adsorption, tracked, and clamping types according to their climbing methods. Among them, wheeled robots can achieve rapid movement on cables, but their effective payload is very limited; tracked robots can make large-area contact with cables and climb stably, but their own mass results in low climbing efficiency; clamping robots complete a movement through multiple posture changes and can overcome obstacles by adjusting their gait, but their climbing efficiency is also low; magnetic adsorption robots can only move on magnetic materials and have limited applicability. Therefore, we propose a bridge cable inspection robot with controllable flexible suspension. Summary of the Invention

[0004] The purpose of this invention is to provide a bridge cable inspection robot with a controllable flexible suspension. The device adopts a controllable flexible suspension as a whole, which has a simple structure and is easy to assemble and disassemble. In cooperation with the lifting mechanism, it has a strong obstacle crossing ability.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a controllable flexible suspension bridge cable inspection robot, comprising a frame mechanism, wherein the frame mechanism comprises multiple support arms, each pair of support arms being used in combination, and a first mounting plate and a second mounting plate being detachably mounted at both ends of the same set of support arms, wherein two sets of active climbing mechanisms are symmetrically mounted at the upper and lower ends of the first mounting plate, and two sets of driven climbing mechanisms are symmetrically mounted at the upper and lower ends of the second mounting plate.

[0006] Both the first mounting plate and the second mounting plate are equipped with lifting mechanisms, which act on the active climbing mechanism and the driven climbing mechanism.

[0007] Multiple anti-deviation mechanisms are symmetrically installed on both sides of the support arm. The anti-deviation mechanisms abut against the outer surface of the cable, and the setting direction of the anti-deviation mechanisms is perpendicular to the direction of the line connecting the centers of the active climbing mechanism and the driven climbing mechanism.

[0008] Furthermore, the two support arms in the same group are arranged in a staggered manner, and multiple screw holes are opened on the side wall of each support arm. The two support arms are fixed by bolts.

[0009] Furthermore, the active climbing mechanism includes a support plate fixedly connected to the first mounting plate. A fixing plate is bolted to one side of the support plate. A bent connecting rod is mounted on the side wall of the fixing plate. A fixed shaft is mounted at the bottom end of the bent connecting rod. A moving rod is rotatably connected to the top end of the bent connecting rod, and the bent connecting rod is connected to the middle of the moving rod. A wheel axle is rotatably connected to the top end of the moving rod. A drive wheel is mounted on the wheel axle through a keyway. A nitrile rubber wheel sleeve is fitted on the outer surface of the drive wheel. A drive unit is mounted on the side wall of the moving rod, and the drive unit acts on the drive wheel.

[0010] The bottom end of the movable rod is equipped with a movable shaft, on which a hook spring is installed, and the other end of the hook spring is connected to a fixed shaft.

[0011] Furthermore, the drive unit includes a first cover fixedly connected to the side wall of the moving rod, a second cover connected to one side of the first cover via a sleeve, a small pulley and a large pulley rotatably connected between the first cover and the second cover, and a synchronous belt provided between the small pulley and the large pulley.

[0012] Furthermore, the small pulley is rotatably connected inside the first cover via a bearing, and a motor is installed at the center of the small pulley, with the motor fixed to the first cover.

[0013] Furthermore, the large pulley passes through the first box cover and is fixedly connected to the axle, and the center of the large pulley coincides with that of the axle.

[0014] Furthermore, the driven climbing mechanism includes a support plate fixedly connected to the second mounting plate. A fixing plate is bolted to one side of the support plate. A bent connecting rod is installed on the side wall of the fixing plate. A fixed shaft is installed at the bottom end of the bent connecting rod. A moving rod is rotatably connected to the top end of the bent connecting rod, and the bent connecting rod is connected to the middle of the moving rod. A wheel axle is rotatably connected to the top end of the moving rod. A driven wheel is installed on the wheel axle through a keyway, and both ends of the wheel axle are rotatably connected to the moving rod.

[0015] The bottom end of the movable rod is equipped with a movable shaft, on which a hook spring is installed, and the other end of the hook spring is connected to a fixed shaft.

[0016] Furthermore, the lifting mechanism includes a fixed seat fixedly connected to a first mounting plate or a second mounting plate, a lifting bolt is installed on the fixed seat, a slider is connected below the lifting bolt, one side of the slider is rotatably connected to the bottom end of the lifting rod through a pin, and a sliding groove adapted to the slider is provided on the side wall of the first mounting plate or the second mounting plate.

[0017] Furthermore, the top end of the lifting rod is bolted to a rod cap, and both the rod cap and the end face of the lifting rod are adapted to the moving shaft. The rod cap and the lifting rod cover the outer surface of the moving shaft and are rotatably connected to it.

[0018] Furthermore, the anti-deviation mechanism includes an anti-deviation bracket mounted on the support arm. An anti-deviation bait plate is bolted to the bottom of the anti-deviation bracket, and an anti-deviation fixing seat is fixedly connected to the end of the anti-deviation bracket. An mounting bracket is bolted to the side wall of the anti-deviation fixing seat, and an anti-deviation wheel is rotatably connected to the mounting bracket.

[0019] This invention has at least the following beneficial effects:

[0020] 1. This invention comprises a controllable flexible suspension consisting of a lifting mechanism, an active climbing mechanism, and a driven climbing mechanism. The design of this controllable flexible suspension enables more diverse movements and deformations. By changing parameters such as the stiffness of the hook spring, the length of the connecting rod, or its installation position, the deformation characteristics of the flexible mechanism can be adjusted and optimized. During the climbing process, the controllable flexible suspension can flexibly deform according to external forces, improving climbing stability. The controllable flexible suspension is lightweight and compact, effectively constraining the overall mass of the robot, thereby enabling the robot to achieve a larger effective payload.

[0021] 2. The present invention adopts a controllable flexible suspension combined with a lifting mechanism, an active climbing mechanism, and a driven climbing mechanism, which enables the inspection robot to have strong obstacle-crossing ability and climbing efficiency, and can also adapt to cables of different diameters, making it highly practical.

[0022] 3. The present invention, through the anti-deviation mechanism, ensures that the anti-deviation wheel always abuts against the cable surface during the robot's climbing and obstacle-crossing process, thereby keeping the cable in the center position of the device and preventing the robot from failing to climb due to cable deviation, thus enhancing the stability of operation.

[0023] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0024] Figure 1 This is a front view of the overall structure of the present invention;

[0025] Figure 2 This is a top view of the overall structure of the present invention;

[0026] Figure 3 This is a side view of the overall structure of the present invention;

[0027] Figure 4 This is a schematic diagram illustrating the mechanical principles of the overall structure of the present invention;

[0028] Figure 5 This is a front view schematic diagram of the active climbing mechanism of the present invention;

[0029] Figure 6 This is a top view schematic diagram of the active climbing mechanism of the present invention;

[0030] Figure 7 This is a side view schematic diagram of the active climbing mechanism of the present invention;

[0031] Figure 8 This is a schematic diagram of the active climbing mechanism of the present invention before overcoming obstacles;

[0032] Figure 9 This is a schematic diagram of the active climbing mechanism of the present invention during obstacle crossing;

[0033] Figure 10 This is a schematic diagram of the state of the active climbing mechanism of the present invention after overcoming an obstacle;

[0034] Figure 11 This is a schematic diagram illustrating the mechanical principle of the active climbing mechanism of the present invention before obstacle crossing;

[0035] Figure 12 This is a schematic diagram illustrating the mechanical principle of the active climbing mechanism of the present invention when overcoming obstacles;

[0036] Figure 13 This is a three-dimensional schematic diagram of the anti-deviation mechanism of the present invention;

[0037] Figure 14 This is a three-dimensional schematic diagram of the framework mechanism of the present invention.

[0038] Figure label:

[0039] 1. Active climbing mechanism; 101. Support plate; 102. Fixed plate; 103. Bending connecting rod; 104. Fixed shaft; 105. Moving rod; 106. Moving shaft; 107. Hook spring; 108. Wheel axle; 109. Drive wheel; 110. Wheel sleeve; 111. First box cover; 112. Sleeve; 113. Second box cover; 114. Motor; 115. Small pulley; 116. Large pulley; 117. Synchronization 1. Belt; 2. Driven climbing mechanism; 3. Lifting mechanism; 301. Rod cover; 302. Lifting rod; 303. Fixing seat; 304. Lifting bolt; 305. Sliding block; 4. Frame mechanism; 401. Support arm; 402. First mounting plate; 403. Second mounting plate; 5. Anti-deviation mechanism; 501. Anti-deviation wheel; 502. Mounting frame; 503. Anti-deviation fixing seat; 504. Anti-deviation bait plate; 505. Anti-deviation bracket. Detailed Implementation

[0040] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0041] Please see Figure 1-14 The present invention provides a technical solution: a controllable flexible suspension bridge cable inspection robot, including a frame mechanism 4, the frame mechanism 4 including multiple support arms 401, each pair of support arms 401 are used in combination, the two ends of the same pair of support arms 401 are respectively detachably mounted with a first mounting plate 402 and a second mounting plate 403, the upper and lower ends of the first mounting plate 402 are symmetrically mounted with two sets of active climbing mechanisms 1, and the upper and lower ends of the second mounting plate 403 are symmetrically mounted with two sets of driven climbing mechanisms 2;

[0042] Lifting mechanisms 3 are installed on both the first mounting plate 402 and the second mounting plate 403. The lifting mechanisms 3 act on the active climbing mechanism 1 and the driven climbing mechanism 2.

[0043] Multiple anti-deviation mechanisms 5 are symmetrically installed on both sides of the support arm 401, and the anti-deviation mechanisms 5 abut against the outer surface of the cable.

[0044] Regarding the technical solution of this embodiment, such as Figure 14 As shown, the number of support arms 401 is set to eight. Two support arms 401 in the same group are arranged vertically in a staggered manner, and multiple screw holes are opened on the side wall of each support arm 401. The two support arms 401 are fixed by bolts. When it is necessary to fix the support arm 401, the first mounting plate 402 and the second mounting plate 403 to the cable, firstly, according to the diameter of the cable, the appropriate holes on the support arm 401 are aligned, and then the first mounting plate 402 and the second mounting plate 403 on both sides are connected together by bolts.

[0045] Regarding the technical solution of this embodiment, such as Figure 5-7As shown, the active climbing mechanism 1 includes a support plate 101 fixedly connected to the first mounting plate 402. A fixing plate 102 is bolted to one side of the support plate 101. A bent connecting rod 103 is installed on the side wall of the fixing plate 102. A fixing shaft 104 is installed at the bottom end of the bent connecting rod 103. A moving rod 105 is rotatably connected to the top end of the bent connecting rod 103, and the bent connecting rod 103 is connected to the middle of the moving rod 105. A wheel axle 108 is rotatably connected to the top end of the moving rod 105. An active wheel 109 is installed on the wheel axle 108 through a keyway. A drive unit is installed on the side wall of the moving rod 105. The drive unit acts on the active wheel 109. A nitrile rubber wheel sleeve 110 is installed on the outside of the active wheel 109. The nitrile rubber material has high oil resistance, wear resistance, heat resistance, and strong adhesion, which facilitates the enhancement of the friction between the active wheel 109 and the cable and improves the climbing efficiency of the active wheel 109.

[0046] A movable shaft 106 is installed at the bottom of the movable rod 105. A hook spring 107 is installed on the movable shaft 106, and the other end of the hook spring 107 is connected to the fixed shaft 104. The elastic potential energy provided by the hook spring 107 is used to drive the movable rod 105 to reset.

[0047] Furthermore, the drive unit includes a first cover 111 fixedly connected to the side wall of the moving rod 105. A second cover 113 is connected to one side of the first cover 111 via a sleeve 112. A small pulley 115 and a large pulley 116 are rotatably connected between the first cover 111 and the second cover 113. A synchronous belt 117 is provided between the small pulley 115 and the large pulley 116. Both the small pulley 115 and the large pulley 116 are synchronous belt pulleys 117, which facilitates their adaptation to the synchronous belt 117, so that the two rotate simultaneously in the same direction.

[0048] Furthermore, the small pulley 115 is rotatably connected inside the first cover 111 via a bearing. A motor 114 is installed at the center of the small pulley 115 and is fixed on the first cover 111. The motor 114 is powered by a battery (not shown in the figure) and the battery is installed on the first mounting plate 402.

[0049] Specifically, when climbing is required, the starter motor 114 drives the small pulley 115 to rotate, which in turn drives the large pulley 116 to rotate via the synchronous belt 117. The large pulley 116 passes through the first cover 111 and is fixedly connected to the axle 108, with the centers of the large pulley 116 and the axle 108 coinciding. Therefore, when the large pulley 116 rotates, it drives the drive wheel 109 to rotate as well, thus facilitating the drive wheel 109 and driving the entire device to climb along the cable. When obstacle crossing is required, such as... Figure 8 and Figure 11As shown, when the drive wheel 109 contacts the obstacle, due to the driving force of the motor 114, the drive wheel 109 tends to move upward continuously. At this time, the obstacle will exert a reaction force on the drive wheel 109, thereby lifting the drive wheel 109 outward, as... Figure 9 and Figure 12 As shown, at this time, the moving rod 105 will rotate around the top of the bent connecting rod 103, thereby stretching the hook spring 107. When the moving rod 105 rotates, it will also drive the lifting mechanism 3 to lift upward. When the drive wheel 109 is raised to the height of the obstacle, it will pass over the obstacle under the drive of the motor 114, as shown. Figure 10 As shown, at this time, under the pulling force of the hook spring 107, the moving rod 105 will deflect in the opposite direction around the bent connecting rod 103 again, thereby causing the driving wheel 109 to reset. At this time, the lifting mechanism 3 will return to its original position, and the hook spring 107 will also return to its original length.

[0050] Regarding the technical solution of this embodiment, the driven climbing mechanism 2 includes a support plate 101 fixedly connected to the second mounting plate 403. A fixing plate 102 is bolted to one side of the support plate 101. A bent connecting rod 103 is installed on the side wall of the fixing plate 102. A fixed shaft 104 is installed at the bottom end of the bent connecting rod 103. A moving rod 105 is rotatably connected to the top end of the bent connecting rod 103, and the bent connecting rod 103 is connected to the middle of the moving rod 105. A wheel axle 108 is rotatably connected to the top end of the moving rod 105. A driven wheel is installed on the wheel axle 108 through a keyway, and both ends of the wheel axle 108 are rotatably connected to the moving rod 105.

[0051] The bottom end of the movable rod 105 is equipped with a movable shaft 106, and a hook spring 107 is installed on the movable shaft 106. The other end of the hook spring 107 is connected to the fixed shaft 104.

[0052] Specifically, the difference between the driven climbing mechanism 2 and the active climbing mechanism 1 is that the driven climbing mechanism 2 is not equipped with a drive unit. Therefore, the active climbing mechanism 1 is mainly used to provide power. When the active climbing mechanism 1 moves upward, it will drive the driven climbing mechanism 2 to move accordingly. The obstacle crossing method and principle of the driven climbing mechanism 2 and the active climbing mechanism 1 are also the same.

[0053] In this embodiment, the number of lifting mechanisms 3 is four. Each lifting mechanism 3 corresponds to a driven climbing mechanism 2 and an active climbing mechanism 1. Each lifting mechanism 3 includes a fixed base 303 fixedly connected to a first mounting plate 402 or a second mounting plate 403. A lifting bolt 304 is installed on the fixed base 303. A slider 305 is connected below the lifting bolt 304. A screw hole adapted to the lifting bolt 304 is opened on the top of the slider 305. One side of the slider 305 is rotatably connected to the bottom end of the lifting rod 302 through a pin. A groove adapted to the slider 305 is opened on the side wall of the first mounting plate 402 or the second mounting plate 403. The edge of the groove is used to limit and guide the slider 305 when it moves.

[0054] It should be noted that the top end of the lifting rod 302 is connected to the rod cover 301 by bolts, and the end faces of the rod cover 301 and the lifting rod 302 are both adapted to the moving shaft 106. The rod cover 301 and the lifting rod 302 cover the outer surface of the moving shaft 106 and are rotatably connected to it.

[0055] Specifically, when the drive wheel 109 rotates to climb over obstacles, the lifting bolt 304 is tightened to disengage it from the slider 305, allowing the slider 305 to slide freely within the groove. When the drive wheel 109 encounters an obstacle and lifts outward, the moving rod 105 deflects around the top of the bent connecting rod 103, stretching the hook spring 107. The deflection of the moving rod 105 also lifts the lifting rod 302 upward, causing the slider 305 to move upward along the groove. During this process, the slider 305 and lifting rod 302 provide guidance during the deflection of the drive wheel 109, ensuring stable lifting of the drive wheel 109. When the drive wheel 109 reaches the obstacle... When the height of the obstacle is reached, the motor 114 will drive the mechanism to pass over the obstacle. At this time, under the pulling force of the hook spring 107, the moving rod 105 will deflect in the opposite direction around the bent connecting rod 103, thereby resetting the driving wheel 109. At this time, the lifting rod 302 and the slider 305 will return to their original positions, and the hook spring 107 will also return to its original length. Then the driving wheel 109 will continue to climb upward. When disassembly is required after use, the lifting bolt 304 will be rotated to fix the slider 305. At this time, the slider 305 will move upward, thereby the lifting rod 302 will drive the driving wheel 109 or the driven wheel to deflect outward, thus facilitating the disassembly of the active climbing mechanism 1 and the driven climbing mechanism 2.

[0056] In this embodiment, the anti-deviation mechanism 5 is configured as four groups, and the four groups of anti-deviation mechanisms 5 are arranged symmetrically. The setting direction of the anti-deviation mechanism 5 is perpendicular to the direction of the center line connecting the active climbing mechanism 1 and the driven climbing mechanism 2. The anti-deviation mechanism 5 includes an anti-deviation bracket 505 installed on the support arm 401. An anti-deviation bait plate 504 is installed at the bottom of the anti-deviation bracket 505 by bolts. An anti-deviation fixing seat 503 is fixedly connected to the end of the anti-deviation bracket 505. An mounting bracket 502 is installed on the side wall of the anti-deviation fixing seat 503 by bolts. An anti-deviation wheel 501 is rotatably connected to the mounting bracket 502.

[0057] Specifically, when needed, first, the anti-deviation wheel 501 is placed against the cable surface. Then, according to the cable diameter, the anti-deviation bracket 505 is installed at an appropriate position on the support arm 401 with bolts. Next, the anti-deviation bait plate 504 is installed at the bottom of the anti-deviation bracket 505 with bolts, and it is placed against the side wall of the support arm 401. This facilitates improved installation strength. When the drive wheel 109 climbs, the anti-deviation wheel 501 will always be in contact with the cable surface, thus keeping the cable in the center position of the device and preventing the inability to climb due to cable deviation.

[0058] It should be further noted that the inspection robot is also equipped with an inspection unit (not shown in the figure), which can be set as a high-definition industrial camera to facilitate damage detection of the cable during the movement of the inspection robot.

[0059] The operating principle and process of this invention are as follows: When needed, firstly, the active climbing mechanism 1 and the driven climbing mechanism 2 are installed on the first mounting plate 402 and the second mounting plate 403 respectively using bolts. Then, the lifting mechanism 3 is installed between each climbing mechanism and the mounting plate. The lifting bolt 304 in the lifting mechanism 3 is tightened, causing it to drive the slider 305 to move upward, thereby driving the lifting rod 302 to move upward. This causes the moving shaft 106 to stretch the pre-tension spring upward, and the bottom of the bent connecting rod 103 to rotate upward, so that the active wheel 109 and the driven wheel open outward. At this time, all four climbing mechanisms are locked. According to the diameter of the cable, the appropriate holes on the support arm 401 are aligned, and the support arms 401 on both sides are fixed together with bolts. Then, the anti-deviation bracket 505 is installed on the support arm 401 at an appropriate position with bolts, and the anti-deviation bait plate 504 is installed. The robot is installed at the bottom of the anti-deviation bracket 505 with bolts, and then abuts against the side wall of the support arm 401 to improve installation strength. After the robot is installed, the lifting screw is loosened to disengage it from the screw hole on the slider 305. Due to the tension of the preload spring, the lifting rod 302 and the slider 305 tend to move along the slide groove, so that the driving wheel 109 and the driven wheel are pressed against the cable surface. Then, the motor 114 is started to drive the small pulley 115 to rotate, which in turn drives the large pulley 116 to rotate through the synchronous belt 117. The large pulley 116 passes through the second box cover 113 and is fixedly connected to the wheel axle 108. The center of the large pulley 116 coincides with that of the wheel axle 108. Therefore, when the large pulley 116 rotates, it will drive the driving wheel 109 to rotate as well, which facilitates the driving of the driving wheel 109 and drives the entire device to climb along the cable for damage detection.

[0060] When obstacle crossing is required, the drive wheel 109 will lift outward when it encounters an obstacle. The moving rod 105 will rotate around the top of the curved connecting rod 103, thereby stretching the hook spring 107. When the moving rod 105 rotates, it will also drive the lifting rod 302 to lift upward. At this time, the slider 305 moves upward along the slide groove. During this process, the slider 305 and the lifting rod 302 are used to guide the drive wheel 109 during its deflection, thereby achieving stable lifting of the drive wheel 109. When the drive wheel 109 is raised to the height of the obstacle, it will cross the obstacle under the drive of the motor 114. At this time, under the tension of the hook spring 107, the moving rod 105 will deflect in the opposite direction around the curved connecting rod 103 again, thereby resetting the drive wheel 109. At this time, the lifting rod 302 and the slider 305 return to their original positions, and the hook spring 107 also returns to its original length. Then the drive wheel 109 will continue to climb upward.

[0061] When disassembly is required after use, rotate the lifting bolt 304 to fix the slider 305. At this time, the slider 305 will move upward, and the lifting rod 302 will drive the driving wheel 109 or the driven wheel to deflect outward, which facilitates the disassembly of the active climbing mechanism 1 and the driven climbing mechanism 2. Then, the support arm 401 can be removed from the cable.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0064] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0065] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A controllable flexible suspension bridge cable inspection robot, comprising a frame mechanism (4), characterized in that, The frame mechanism (4) includes multiple support arms (401), with each pair of support arms (401) forming a group for coordinated use. The two ends of the same group of support arms (401) are respectively detachably mounted with a first mounting plate (402) and a second mounting plate (403). The upper and lower ends of the first mounting plate (402) are symmetrically mounted with two sets of active climbing mechanisms (1), and the upper and lower ends of the second mounting plate (403) are symmetrically mounted with two sets of passive climbing mechanisms (2). Lifting mechanisms (3) are installed on both the first mounting plate (402) and the second mounting plate (403), and the lifting mechanisms (3) act on the active climbing mechanism (1) and the driven climbing mechanism (2); Multiple anti-deviation mechanisms (5) are symmetrically installed on both sides of the support arm (401). The anti-deviation mechanism (5) abuts against the outer surface of the cable, and the setting direction of the anti-deviation mechanism (5) is perpendicular to the direction of the center line connecting the active climbing mechanism (1) and the driven climbing mechanism (2). The active climbing mechanism (1) includes a support plate (101) fixedly connected to the first mounting plate (402). A fixing plate (102) is bolted to one side of the support plate (101). A bent connecting rod (103) is installed on the side wall of the fixing plate (102). A fixed shaft (104) is installed at the bottom end of the bent connecting rod (103). A moving rod (105) is rotatably connected to the top end of the bent connecting rod (103), and the bent connecting rod (103) is connected to the middle of the moving rod (105). A wheel axle (108) is rotatably connected to the top end of the moving rod (105). An active wheel (109) is installed on the wheel axle (108) through a keyway. A nitrile rubber wheel sleeve (110) is fitted on the outer surface of the active wheel (109). A drive unit is installed on the side wall of the moving rod (105), and the drive unit acts on the active wheel (109). The bottom end of the movable rod (105) is equipped with a movable shaft (106), a hook spring (107) is installed on the movable shaft (106), and the other end of the hook spring (107) is connected to the fixed shaft (104). The lifting mechanism (3) includes a fixed seat (303) fixedly connected to a first mounting plate (402) or a second mounting plate (403). A lifting bolt (304) is installed on the fixed seat (303). A slider (305) is connected below the lifting bolt (304). One side of the slider (305) is rotatably connected to the bottom end of the lifting rod (302) through a pin. A groove adapted to the slider (305) is opened on the side wall of the first mounting plate (402) or the second mounting plate (403). The top end of the lifting rod (302) is bolted to a rod cover (301), and the end faces of the rod cover (301) and the lifting rod (302) are both adapted to the moving shaft (106). The rod cover (301) and the lifting rod (302) cover the outer surface of the moving shaft (106) and are rotatably connected to it.

2. The bridge cable inspection robot with controllable flexible suspension according to claim 1, characterized in that: The two support arms (401) in the same group are arranged in a staggered manner, and multiple screw holes are opened on the side wall of each support arm (401). The two support arms (401) are fixed by bolts.

3. The bridge cable inspection robot with controllable flexible suspension according to claim 2, characterized in that: The drive unit includes a first cover (111) fixedly connected to the side wall of the moving rod (105), a second cover (113) connected to one side of the first cover (111) via a sleeve (112), a small pulley (115) and a large pulley (116) rotatably connected between the first cover (111) and the second cover (113), and a synchronous belt (117) provided between the small pulley (115) and the large pulley (116).

4. The bridge cable inspection robot with controllable flexible suspension according to claim 3, characterized in that: The small pulley (115) is rotatably connected inside the first box cover (111) via a bearing. A motor (114) is installed at the center of the small pulley (115), and the motor (114) is fixed on the first box cover (111).

5. The bridge cable inspection robot with controllable flexible suspension according to claim 3, characterized in that: The large pulley (116) passes through the first box cover (111) and is fixedly connected to the axle (108), and the center of the large pulley (116) coincides with the center of the axle (108).

6. The bridge cable inspection robot with controllable flexible suspension according to claim 5, characterized in that: The driven climbing mechanism (2) includes a support plate (101) fixedly connected to the second mounting plate (403). A fixing plate (102) is bolted to one side of the support plate (101). A bent connecting rod (103) is installed on the side wall of the fixing plate (102). A fixed shaft (104) is installed at the bottom end of the bent connecting rod (103). A moving rod (105) is rotatably connected to the top end of the bent connecting rod (103), and the bent connecting rod (103) is connected to the middle of the moving rod (105). A wheel axle (108) is rotatably connected to the top end of the moving rod (105). A driven wheel is installed on the wheel axle (108) through a keyway, and both ends of the wheel axle (108) are rotatably connected to the moving rod (105). The bottom end of the movable rod (105) is equipped with a movable shaft (106), a hook spring (107) is installed on the movable shaft (106), and the other end of the hook spring (107) is connected to the fixed shaft (104).

7. The bridge cable inspection robot with controllable flexible suspension according to claim 6, characterized in that: The anti-deviation mechanism (5) includes an anti-deviation bracket (505) mounted on the support arm (401). An anti-deviation bait plate (504) is bolted to the bottom of the anti-deviation bracket (505). An anti-deviation fixing seat (503) is fixedly connected to the end of the anti-deviation bracket (505). An mounting bracket (502) is bolted to the side wall of the anti-deviation fixing seat (503). An anti-deviation wheel (501) is rotatably connected to the mounting bracket (502).

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