Transverse wire rope inspection robot with bending adaptive structure

Abstract

The present invention discloses a transverse wire rope inspection robot with a bending adaptive structure, comprising: a housing, two attachment claws spaced apart and arranged at both ends of the housing; an anti-slip device arranged on the end face of the housing, and the anti-slip device corresponds to one of the attachment claws; two universal propeller power systems respectively arranged at the top and bottom of one end of the housing near the anti-slip device; an electromagnetic detection module arranged inside the housing; and a visual detection auxiliary module, the visual detection auxiliary module being arranged on the circumference of one end of the housing away from the anti-slip device. The present invention is used for inspecting transverse curved wire ropes, and can adaptively adjust the curvature of the electromagnetic detection module based on the visual detection auxiliary module to avoid damage to the flaw detection device when inspecting curved wire ropes. The design of the universal propeller and attachment claws reduces the weight of the robot, improves the stability of the robot during operation, ensures the accuracy of the detection results, and is easy to carry, making it more suitable for multi-site inspections.

Description

Technical Field

[0001] The invention belongs to the technical field of non-destructive testing of steel wire ropes, and in particular relates to a transverse steel wire rope inspection robot with a bending adaptive structure. Background Art

[0002] Wire ropes are widely used in many fields, such as construction, heavy cargo transportation, mining, and navigation. However, most wire ropes are subject to harsh operating conditions. After long-term use, they inevitably suffer from wear, fatigue, and other damage, leading to wire breakage. Therefore, regular damage inspection is essential. Traditional methods require experienced workers to visually inspect the wire ropes or to cut a section of the wire rope for testing in a laboratory. This is inefficient and dangerous. Therefore, flaw detectors suitable for non-destructive testing of wire ropes have emerged, but current flaw detectors require additional towing equipment. While some automated wire rope inspection robots exist, they are generally heavy. While they can climb vertical wire ropes using high-powered climbing equipment, they are not suitable for flaw detection on transverse wire ropes. Their large mass makes them unstable horizontally and can also cause additional damage to the wire rope, such as bending fatigue. Furthermore, the cylindrical sensor portion of current wire rope inspection robots can cause wear between the wire rope and the sensor when inspecting curved wire ropes, reducing detection accuracy and potentially damaging the robot. Therefore, whether it is possible to develop a transverse wire rope inspection robot that can adapt to the bending of the wire rope, make it lighter, and adapt to the degree of bending of the wire rope has become a technical problem that needs to be solved urgently in this field in recent years. Summary of the Invention

[0003] In order to solve the above problems, an embodiment of the present invention provides a transverse wire rope inspection robot with a bending adaptive structure.

[0004] The transverse wire rope inspection robot with a bending adaptive structure of the present invention includes: a shell, one side of the shell is provided with an opening, and the opening is arranged along a first preset direction; there are two attachment claws, and the two attachment claws are arranged at both ends of the shell at intervals along the first preset direction; an anti-slip device, the anti-slip device is arranged on the end face of the shell, and the anti-slip device corresponds to one of the attachment claws; a universal propeller power system, the two universal propeller power systems are respectively arranged on the top and bottom of one end of the shell close to the anti-slip device; an electromagnetic detection module, the electromagnetic detection module is arranged inside the shell; and a visual detection auxiliary module, the visual detection auxiliary module is arranged on the circumferential surface of the shell at one end away from the anti-slip device.

[0005] Optionally, the shell is a hexagonal prism structure, and circular holes are provided in the middle positions of the two hexagonal surfaces of the shell. The two circular holes are connected to the opening on one side of the shell, and the first preset direction is consistent with the extension direction of the wire rope, the movement direction of the robot, and the horizontal direction.

[0006] Optionally, the attachment claw includes an attachment claw base, which is connected to the end face of the shell through a connecting rod. A rotating shaft is provided in the attachment claw base along a first preset direction, an arc-shaped opening and closing rod is provided on the rotating shaft, and a torsion spring is provided below the rotating shaft, and one end of the torsion spring is in contact with the opening and closing rod.

[0007] Optionally, an arc ring is provided above the attachment claw base, the first end of the arc ring is fixed in the attachment claw base, the second end of the arc ring cooperates with the upper end of the opening and closing rod, the lower end of the opening and closing rod is a free end, and a plurality of support wheels are provided at intervals on the arc ring. An anti-collision wheel is also provided in the attachment claw base, the anti-collision wheel is sleeved on the arc ring, and the anti-collision wheel cooperates with a plurality of support wheels, and support springs are provided in both the support wheel and the anti-collision wheel.

[0008] Optionally, the anti-slip device includes an anti-slip device base, which is arranged on the outer shell, and an electric push rod and a slide rail are provided on the anti-slip device base. The push rod of the electric push rod is connected to the push plate, and the push plate is slidingly connected to the slide rail. Two transmission rods are symmetrically provided on both sides of the push plate, one end of the transmission rod is rotatably connected to the push plate, and the other end of the transmission rod is rotatably connected to the opening and closing plate.

[0009] Optionally, a friction claw is provided at one end of the opening and closing plate away from the transmission rod, and the two friction claws are arranged opposite to each other. A group of sliding components are respectively installed at the bottom of the two opening and closing plates and connected to the base of the anti-slip device. A reset spring is provided between the two opening and closing plates.

[0010] Optionally, the universal propeller power system includes a fixed column, which is installed on one end of the outer shell close to the anti-slip device. The fixed column is connected to the reversing column through the Z-direction servo motor, the reversing column is connected to the reverse column through the Y-direction servo motor, and the reverse column is connected to the propeller assembly through the secondary Y-direction servo motor. The axial direction of the propeller assembly is perpendicular to the Y-direction.

[0011] Optionally, the electromagnetic detection module includes a fixed frame, which is arranged on the inner wall of the end face of the outer shell, and a pneumatic push rod is provided on the fixed frame along the second preset direction, the push rod of the pneumatic push rod is connected to the slider base, the slider base is connected to the pneumatic software, the pneumatic software is arranged along the first preset direction, the second preset direction is perpendicular to the first preset direction, and the second preset direction is consistent with the vertical direction, an air inlet is provided in the slider base, the air inlet is connected to the pneumatic software, the pneumatic software is connected to the telescopic sleeve, and an electromagnetic flaw detection component is provided in the telescopic sleeve.

[0012] Optionally, there are two fixing frames, each of which is provided with a slider base, and the two slider bases are arranged opposite to each other up and down, the upper slider base is connected to the upper pneumatic software, the lower slider base is connected to the lower pneumatic software, the lower pneumatic software is connected to the telescopic sleeve, and a permanent magnet and multiple Hall sensors are provided in the telescopic sleeve.

[0013] Optionally, there are three visual inspection auxiliary modules, which are distributed at 120° intervals along the circumference of the shell. The visual inspection auxiliary modules include an angle adjustment component and an industrial camera. The angle adjustment component is hinged by two connecting rods, one connecting rod is connected to the industrial camera, and the other connecting rod is bolted to the circumference of the shell away from the anti-slip device.

[0014] The beneficial effects of the present invention are:

[0015] 1. The present invention provides a visual inspection auxiliary module, which can not only compare the visual inspection results with the inspection results of the electromagnetic inspection module, but also observe the bending degree of the wire rope and the tilt degree of the robot, providing information for the electromagnetic detection module and the universal propeller power system.

[0016] 2. The present invention sets an electromagnetic detection module, which can adaptively adjust its own bending degree according to the bending degree of the wire rope detected by the visual detection auxiliary module, thereby avoiding friction damage between the wire rope and the sensor while being able to pass through the bent wire rope smoothly.

[0017] 3. The present invention is equipped with attachment claws that can wrap around the wire rope circumference, making it more stable during movement. The opening and closing rods of the robot attachment claws can only move downward, achieving self-locking during wrapping, so that it not only has a supporting function but also an anti-fall function. The support wheel contains a spring, which can achieve a certain degree of obstacle crossing and can adapt to changes in the diameter of the wire rope.

[0018] 4. The present invention sets a universal propeller power system, which can adaptively adjust the propeller angle according to the robot's inclination degree transmitted by the visual inspection auxiliary module, preventing the robot from spinning during lateral inspection, improving the stability of the robot during operation, and ensuring the accuracy of the detection results.

[0019] 5. The robot shell, bending adaptive electromagnetic detection module, universal propeller power system, and robot attachment claw of the present invention greatly reduce the weight of the robot, achieving a lightweight design of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the transverse wire rope inspection robot with a bending adaptive structure of the present invention.

[0021] Figure 2It is a side view of the transverse wire rope inspection robot with a bending adaptive structure of the present invention.

[0022] Figure 3 It is a structural schematic diagram of the electromagnetic detection module of the present invention.

[0023] Figure 4 It is a cross-sectional view of the electromagnetic detection module of the present invention.

[0024] Figure 5 It is a structural schematic diagram of the attachment claw of the present invention.

[0025] Figure 6 It is a schematic diagram of the internal structure of the attachment claw of the present invention.

[0026] Figure 7 It is a structural schematic diagram of the anti-skid device of the present invention.

[0027] Figure 8 It is a bottom view of the anti-slip device of the present invention.

[0028] Figure 9 It is a structural schematic diagram of the support wheel of the present invention.

[0029] Reference numerals:

[0030] Attachment claw 1; attachment claw base 101; rotation axis 102; opening and closing rod 103; anti-collision wheel 104; support spring 105; support wheel 106; arc ring 107; connecting rod 108; torsion spring 109;

[0031] Anti-skid device 2; anti-skid device base 201; electric push rod 202; push plate 203; transmission rod 204; opening and closing plate 205; slide rail 206; friction claw 207; sliding assembly 208; return spring 209;

[0032] Electromagnetic detection module 3; air inlet 301; slider base 302; fixing bracket 303; pneumatic push rod 304; upper pneumatic soft body 305; lower pneumatic soft body 306; telescopic sleeve 307; permanent magnet 308; Hall sensor;

[0033] Universal propeller power system 4; fixed column 401; Z-direction servo motor 402; reversing column 403; Y-direction servo motor 404; reverse column 405; secondary Y-direction servo motor 406; propeller assembly 407;

[0034] Shell 5;

[0035] Visual inspection auxiliary module 6; angle adjustment component 601; industrial camera 602. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0037] like Figures 1-9 As shown, the transverse wire rope inspection robot with a bend-adaptive structure of the present invention includes: a housing 5, an attachment claw 1, an anti-slip device 2, a universal propeller power system 4, an electromagnetic detection module 3, and a visual inspection auxiliary module 6. The housing 5 has an opening on one side, arranged along a first predetermined direction. The electromagnetic detection module 3 is disposed within the housing 5. The opening is used to allow the wire rope to pass through, allowing the wire rope to enter the housing 5, thereby performing electromagnetic flaw detection on the wire rope. The first predetermined direction is consistent with the extension direction of the wire rope, the movement direction of the robot, and the horizontal direction.

[0038] There are two attachment claws 1, which are arranged at both ends of the shell 5 at intervals along a first preset direction. When the robot is working, the wire rope needs to pass through the two attachment claws 1, and the wire rope needs to enter the electromagnetic detection module 3. The attachment claws 1 can wrap the wire rope along the circumferential direction to make it more stable during operation.

[0039] The anti-skid device 2 is provided on the outer end surface of the housing 5 and corresponds to one of the attachment claws 1 ; the anti-skid device 2 is used to lock the wire rope in the event of a sudden power outage to achieve an anti-skid effect.

[0040] Two universal propeller power systems 4 are respectively arranged on the top and bottom of the housing 5 near one end of the anti-slip device 2; the universal propeller power systems 4 can provide wind power to provide power for the robot to move forward and backward.

[0041] The visual detection auxiliary module 6 is arranged on the circumferential surface of the outer shell 5 away from the anti-slip device 2. The visual detection auxiliary module 6 is used to capture the bending degree of the wire rope and the tilt degree of the robot, and provide information to the electromagnetic detection module 3 and the universal propeller power system 4.

[0042] like Figure 1 As shown, the shell 5 is a hexagonal prism structure, and circular holes are provided in the middle positions of the two hexagonal faces of the shell 5. The two circular holes are connected to the opening on one side of the shell 5. The diameter of the circular hole is slightly larger than the outer diameter of the wire rope. After the wire rope enters from the opening on the side of the shell 5, it cooperates with the attachment claws 1 at both ends at the position of the circular hole.

[0043] like Figure 5 and Figure 6As shown, there are two attachment claws 1, and the two attachment claw bases 101 are connected to the two end surfaces of the housing 5 via connecting rods 108. The attachment claw 1 includes the attachment claw base 101, an opening and closing rod 103, an arcuate ring 107, and a support wheel 106. The attachment claw base 101 is provided with a rotating shaft 102 arranged along a first predetermined direction. The rotating shaft 102 is provided with an arcuate opening and closing rod 103. A torsion spring 109 is provided below the rotating shaft 102, and one end of the torsion spring 109 contacts the opening and closing rod 103.

[0044] The first end of the arcuate ring 107 is fixed to the attachment claw base 101. The second end of the arcuate ring 107 engages with the upper end of the opening and closing rod 103, while the lower end of the opening and closing rod 103 is free. The opening and closing rod 103 opens and closes the arcuate ring 107 via the rotating shaft 102. Pulling the opening and closing rod 103 downward rotates the rotating shaft 102, causing the upper end to align with the second end of the arcuate ring 107. This opens the arcuate ring 107, allowing the wire rope to enter the arcuate ring 107. The opening and closing rod 103 then automatically returns to its original position under the action of the torsion spring 109, automatically closing the arcuate ring 107. The opening and closing rod 103 of the attachment claw 1 can only move downward, achieving self-locking during wrapping, providing both support and fall prevention.

[0045] A plurality of support wheels 106 are provided at intervals on the arc ring 107, and an anti-collision wheel 104 is also provided in the attachment claw base 101. The anti-collision wheel 104 is sleeved on the first end of the arc ring 107, and the anti-collision wheel 104 cooperates with the plurality of support wheels 106. The anti-collision wheel 104 can prevent the steel wire rope from rubbing and colliding with the attachment claw base 101 when it fluctuates; when the steel wire rope enters the arc ring 107, the support wheel 106 and the anti-collision wheel 104 can support the circumference of the steel wire rope, thereby realizing the attachment of the robot to the steel wire rope, so that the robot can crawl stably along the steel wire rope.

[0046] like Figure 9 As shown, support springs 105 are provided in the support wheel 106 and the anti-collision wheel 104. The support springs 105 can achieve a certain degree of obstacle crossing and adapt to the diameter of the wire rope.

[0047] Specifically, the support spring 105 is welded inside the support wheel 106 and the anti-collision wheel 104. The inner rings of the support wheel 106 and the anti-collision wheel 104 are elastic rings. When encountering small protrusions on the wire rope or the diameter of the wire rope increases, the support spring 105 is compressed, thereby achieving a certain degree of obstacle crossing and adapting to the diameter of the wire rope.

[0048] like Figure 7 and Figure 8As shown, the anti-slip device 2 includes an anti-slip device base 201, which is arranged on the outer shell 5. The anti-slip device base 201 is provided with an electric push rod 202 and a slide rail 206. The push rod of the electric push rod 202 is connected to the push plate 203, and the push plate 203 is slidably connected to the slide rail 206.

[0049] Two transmission rods 204 are symmetrically provided on both sides of the pushing plate 203, one end of the transmission rod 204 is hinged to the opening and closing plate 205, and the other end of the transmission rod 204 is hinged to the pushing plate 203. A group of sliding components 208 are respectively installed at the bottom of the two opening and closing plates 205 and connected to the anti-slip device base 201. When the push rod of the electric push rod 202 drives the pushing plate 203 to move along the slide rail 206, the pushing plate 203 pushes the two opening and closing plates 205 to move to both sides respectively through the transmission rod 204. When the two opening and closing plates 205 move to both sides, the sliding components 208 are responsible for supporting the opening and closing plates 205 and limiting the opening and closing plates 205 to move only to both sides.

[0050] A friction claw 207 is provided at the end of the opening and closing plate 205 away from the transmission rod 204. The two friction claws 207 are arranged opposite each other. When the opening and closing plate 205 moves toward its ends, the two friction claws 207 separate. A return spring 209 is installed between the two opening and closing plates 205. In the event of an emergency power outage, the electric push rod 202 loses power. The opening and closing plate 205, under the action of the return spring 209, drives the friction claws 207 to lock onto the wire rope, achieving a slip-resistant effect.

[0051] like Figure 1 and Figure 2 As shown, the universal propeller power system 4 includes a fixed column 401, which is mounted on the housing 5 at one end near the anti-slip device 2. The fixed column 401 is connected to the reversing column 403 via a Z-direction servo motor 402, enabling the reversing column 403 to rotate on the Z axis. The reversing column 403 is connected to the reversing column 405 via a Y-direction servo motor 404, enabling the reversing column 405 to rotate on the Y axis. The reversing column 405 is connected to the propeller assembly 407 via a secondary Y-direction servo motor 406, enabling the propeller assembly 407 to rotate on the secondary Y axis. The axial direction of the propeller assembly 407 is perpendicular to the Y axis. This connection method prevents the propeller from colliding with components such as the robot housing 5 when rotating with the secondary Y-direction servo motor 406, and also allows the propeller to provide power in any direction.

[0052] like Figure 3 and Figure 4As shown, the electromagnetic detection module 3 includes a mounting bracket 303, which is mounted on the inner wall of the end face of the housing 5. A pneumatic push rod 304 is mounted on the mounting bracket 303 along a second predetermined direction, which is perpendicular to the first predetermined direction and coincides with the vertical direction. The push rod of the pneumatic push rod 304 is connected to a slider base 302. There are two mounting brackets 303, each with a slider base 302. The two slider bases 302 are arranged in an upper and lower position relative to each other. An air inlet 301 is provided in the slider base 302, which is connected to a pneumatic soft body. The upper slider base 302 is connected to an upper pneumatic soft body 305, while the lower slider base 302 is connected to a lower pneumatic soft body 306. Compressed gas can control the bending of the upper and lower pneumatic soft bodies 305 and 306 through the air inlet 301.

[0053] The upper pneumatic body 305 and the lower pneumatic body 306 are both arranged along a first predetermined direction. The lower pneumatic body 306 is connected to a telescopic sleeve 307, which contains a permanent magnet 308 and multiple Hall sensors 309. The permanent magnet 308 and multiple Hall sensors 309 form an electromagnetic flaw detection assembly for detecting wire ropes.

[0054] When the attachment claw 1 is opened for inserting the steel wire rope, the pneumatic push rod 304 contracts, and the upper pneumatic soft body 305 and the lower pneumatic soft body 306 move to both sides, opening the battery detection module 3 and allowing the steel wire rope to enter.

[0055] There are three visual inspection auxiliary modules 6, spaced 120° apart along the circumference of the housing 5. Each module 6 includes an angle adjustment assembly 601 and an industrial camera 602. The angle adjustment assembly 601 is hinged by two connecting rods, one of which is connected to the industrial camera 602, and the other is bolted to the circumference of the housing 5 away from the anti-slip device 2. The industrial camera 602 is used to identify external damage and bend angles of the wire rope.

[0056] The electromagnetic detection module 3 adaptively adjusts the bending degree of its own structure through the wire rope bending degree signal transmitted by the visual detection auxiliary module 6 to avoid friction damage between the sensor and the bent wire rope; at the same time, the universal propeller power system 4 adaptively adjusts the power direction of the propeller through the angle sensor and the robot tilt degree signal transmitted by the visual detection auxiliary module 6 to avoid the robot spinning while crawling along the wire rope.

[0057] When the present invention is used, the attachment claws 1 and the electromagnetic detection module 3 are first opened, and the wire rope is passed through the two attachment claws 1, the anti-slip device 2 and the electromagnetic detection module 3. Then, the visual detection auxiliary module 6 takes pictures of the damage and bending angle of the wire rope and transmits them to the electromagnetic detection module 3 and the universal propeller power system 4. The universal propeller adjusts the power direction according to the received signal, and the electromagnetic detection module 3 performs electromagnetic flaw detection on the wire rope.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0060] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0061] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0062] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0063] Although the above embodiments have been shown and described, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those skilled in the art are all within the scope of protection of the present invention.

Claims

1. A transverse wire rope inspection robot with a bending adaptive structure, characterized in that: include: A housing (5), wherein one side of the housing (5) is provided with an opening, and the opening is arranged along a first preset direction; Attachment claws (1), there are two attachment claws (1), and the two attachment claws (1) are arranged at two ends of the housing (5) at intervals along a first preset direction; an anti-slip device (2), the anti-slip device (2) being provided on an end surface of the housing (5), and the anti-slip device (2) corresponding to one of the attachment claws (1); a universal propeller power system (4), wherein the two universal propeller power systems (4) are respectively arranged at the top and bottom of one end of the housing (5) close to the anti-skid device (2); An electromagnetic detection module (3), the electromagnetic detection module (3) being arranged inside the housing (5); A visual detection auxiliary module (6), the visual detection auxiliary module (6) being arranged on a peripheral surface of the housing (5) at one end away from the anti-slip device (2); The attachment claw (1) comprises an attachment claw base (101), the attachment claw base (101) being connected to the end surface of the housing (5) via a connecting rod (108), a rotating shaft (102) arranged along a first preset direction being provided in the attachment claw base (101), an arc-shaped opening and closing rod (103) being provided on the rotating shaft (102), a torsion spring (109) being provided below the rotating shaft (102), one end of the torsion spring (109) being in contact with the opening and closing rod (103); An arc ring (107) is provided above the attachment claw base (101), a first end of the arc ring (107) is fixed in the attachment claw base (101), a second end of the arc ring (107) is matched with the upper end of the opening and closing rod (103), the lower end of the opening and closing rod (103) is a free end, a plurality of support wheels (106) are sleeved on the arc ring (107), an anti-collision wheel (104) is further provided in the attachment claw base (101), the anti-collision wheel (104) is sleeved on the arc ring (107), and the anti-collision wheel (104) is matched with the plurality of support wheels (106), and support springs are provided in both the support wheel (106) and the anti-collision wheel (104); The anti-skid device (2) comprises an anti-skid device base (201), the anti-skid device base (201) is arranged on the housing (5), an electric push rod (202) and a slide rail (206) are arranged on the anti-skid device base (201), the push rod of the electric push rod (202) is connected to the push plate (203), the push plate (203) is slidably connected to the slide rail (206), two transmission rods (204) are symmetrically arranged on both sides of the push plate (203), one end of the transmission rod (204) is rotatably connected to the push plate (203), and the other end of the transmission rod (204) is rotatably connected to the opening and closing plate (205); The end of the opening and closing plate (205) away from the transmission rod (204) is provided with a friction claw (207), and the two friction claws (207) are arranged opposite to each other. A set of sliding components (208) are respectively installed at the bottom of the two opening and closing plates (205) and connected to the anti-slip device base (201). A return spring (209) is provided between the two opening and closing plates (205); The electromagnetic detection module (3) includes a fixing frame (303), the fixing frame (303) is arranged on the inner wall of the end face of the shell (5), a pneumatic push rod (304) is arranged on the fixing frame (303) along the second preset direction, the push rod of the pneumatic push rod (304) is connected to the slider base (302), the slider base (302) is connected to the pneumatic soft body, the pneumatic soft body is arranged along the first preset direction, the second preset direction is perpendicular to the first preset direction, and the second preset direction is consistent with the vertical direction, an air inlet (301) is arranged in the slider base (302), the air inlet (301) is communicated with the pneumatic soft body, the pneumatic soft body is connected to the telescopic sleeve (307), and the telescopic sleeve (307) is provided with an electromagnetic flaw detection component; There are two fixing frames (303), each of which is provided with a slider base (302). The two slider bases (302) are arranged opposite to each other in an upper and lower position. The upper slider base (302) is connected to the upper pneumatic soft body (305), and the lower slider base (302) is connected to the lower pneumatic soft body (306). The lower pneumatic soft body (306) is connected to the telescopic sleeve (307), and the telescopic sleeve (307) is provided with a permanent magnet (308) and a plurality of Hall sensors (309).

2. The transverse wire rope inspection robot with a bending adaptive structure according to claim 1, characterized in that: The housing (5) is a hexagonal prism structure, and circular holes are provided in the middle positions of the two hexagonal surfaces of the housing (5), and the two circular holes are connected to the opening on one side of the housing (5). The first preset direction is consistent with the extension direction of the wire rope and the movement direction of the robot.

3. The transverse wire rope inspection robot with a bending adaptive structure according to claim 1, characterized in that: The universal propeller power system (4) includes a fixed column (401), which is installed on an end of the housing (5) close to the anti-slip device (2), the fixed column (401) is connected to the reversing column (403) via a Z-direction servo motor (402), the reversing column (403) is connected to the reverse column (405) via a Y-direction servo motor (404), the reverse column (405) is connected to the propeller assembly (407) via a secondary Y-direction servo motor (406), and the axial direction of the propeller assembly (407) is perpendicular to the Y-direction.

4. The transverse wire rope inspection robot with a bending adaptive structure according to claim 1, characterized in that: There are three visual inspection auxiliary modules (6), which are distributed at intervals of 120° along the circumference of the housing (5). The visual inspection auxiliary modules (6) include an angle adjustment component (601) and an industrial camera (602). The angle adjustment component (601) is hinged by two connecting rods, one of which is connected to the industrial camera (602), and the other is provided on the circumference of the housing (5) away from the anti-slip device (2) through a bolt.

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