Adaptive adjustment method of main cable robot and main cable robot

Abstract

This invention discloses an adaptive adjustment method for a main-cable robot and the main-cable robot itself. The method includes: controlling two lateral crawling mechanisms to move relative to each other along the width direction of the main-cable robot; acquiring the distance between the two lateral crawling mechanisms and their corresponding main-cable handrails to determine the change in the spacing between each lateral crawling mechanism and its corresponding main-cable handrail; if the spacing between the lateral crawling mechanism and its corresponding main-cable handrail changes from decreasing to increasing, determining whether the lateral crawling mechanism has moved into position relative to the main-cable handrail; if it is determined that both lateral crawling mechanisms have moved into position, placing the two lateral crawling mechanisms of the main-cable robot onto the two main-cable handrails respectively. It can be understood that when the main-cable robot is placed downwards, the position of the lateral crawling mechanisms is adjusted along the width direction, and by detecting the change in the spacing between the lateral crawling mechanisms and the main-cable handrails, it is determined that the lateral crawling mechanisms have been approximately adjusted to a suitable position.

Description

Technical Field

[0001] This invention relates to the technical field of main-cable robots, and more particularly to an adaptive adjustment method for a main-cable robot and the main-cable robot itself. Background Technology

[0002] The main cables of suspension bridges are exposed to the air all year round and are frequently affected by natural factors such as sun exposure, rain, freezing and snow pressure. This can easily cause the coating or sheath of the main cables to age and crack, exposing the internal steel wires directly to the air. As a result, the steel wires corrode and break, affecting the service life of the bridge.

[0003] In related technologies, to facilitate the maintenance of the main cable, a main cable robot is typically used for maintenance. The main cable robot is usually placed on the main cable handrail by using a crane to lift it directly above the handrail, and then lowering it onto the handrail.

[0004] However, during the placement of the main cable robot, staff need to frequently adjust its position so that it can be accurately lowered onto the two main cable handrails. Therefore, the workload for staff is quite heavy during the lowering process. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an adaptive adjustment method for a main cable robot and a main cable robot, which can adaptively adjust itself and thus be conveniently placed on the main cable handrail.

[0006] In a first aspect, embodiments of this application provide an adaptive adjustment method for a main cable robot, the main cable robot including two lateral crawling mechanisms for crawling along two main cable handrails respectively;

[0007] The adaptive adjustment method includes:

[0008] As the main cable robot descends toward the main cable handrail, the two lateral crawling mechanisms are controlled to move relative to each other along the width direction of the main cable robot.

[0009] The distance between the two lateral crawling mechanisms and the corresponding main cable handrail is obtained to determine the spacing variation between each lateral crawling mechanism and the corresponding main cable handrail.

[0010] If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, it is to determine whether the lateral crawling mechanism has moved into position relative to the main cable handrail.

[0011] Once it is determined that both lateral crawling mechanisms have moved into position, the two lateral crawling mechanisms of the main cable robot are respectively placed on the two main cable handrails.

[0012] According to some embodiments of the present invention, controlling the two lateral crawling mechanisms to move relative to each other along the width direction of the main cable robot includes:

[0013] Along the width direction of the main cable robot, control the two lateral crawling mechanisms to move back to back from the minimum distance or towards each other from the maximum distance.

[0014] According to some embodiments of the present invention, after determining the spacing variation between each of the lateral crawling mechanisms and the corresponding main cable handrail, the process includes:

[0015] If the distance between one of the lateral crawling mechanisms and the corresponding main cable handrail changes from decreasing to increasing, while the distance between the other lateral crawling mechanism and the corresponding main cable handrail remains decreasing, the operator is reminded to adjust the position of the main cable robot in its width direction.

[0016] According to some embodiments of the present invention, if the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, the method further includes:

[0017] During the descent of the main cable robot, the lateral crawling mechanism is controlled to move in the opposite direction to its previous direction of movement;

[0018] The distance between the lateral crawling mechanism and the corresponding main cable handrail is obtained to determine the change in the spacing between the lateral crawling mechanism and the corresponding main cable handrail.

[0019] If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, the cyclic step of controlling the lateral crawling mechanism to move in the opposite direction of its previous movement direction is executed, and the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail is performed.

[0020] According to some embodiments of the present invention, before the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail, the execution step includes:

[0021] The distance between the lateral crawling mechanism and the corresponding main cable handrail is less than or equal to a preset distance, in order to perform the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail.

[0022] According to some embodiments of the present invention, the preset distance is set between 3mm and 8mm.

[0023] According to some embodiments of the present invention, the main cable robot includes at least four distance sensors, namely A1, A2, B1 and B2, wherein A1 and A2 are disposed at the front and rear ends of one of the lateral crawling mechanisms, and B1 and B2 are disposed at the front and rear ends of another lateral crawling mechanism.

[0024] The distance between the two lateral crawling mechanisms and the corresponding main cable handrail is obtained to determine the change in the spacing between each lateral crawling mechanism and the corresponding main cable handrail.

[0025] Obtain the distances from A1 and A2 detected to the main cable handrail rope to determine the changes in the distance between the corresponding lateral crawling mechanism and the corresponding main cable handrail rope.

[0026] Obtain the distances detected by B1 and B2 to the main cable handrail to determine the changes in the distance between the corresponding lateral crawling mechanism and the corresponding main cable handrail.

[0027] According to some embodiments of the present invention, the lateral crawling mechanism is provided with a gripper assembly, the gripper assembly including two cooperating grippers, and pressure sensors are provided on opposite sides of the two grippers;

[0028] The adaptive adjustment method further includes:

[0029] During the process of the main cable robot crawling along the main cable handrail, the pressure detection values ​​of the two pressure sensors are acquired;

[0030] By comparing the pressure detection values ​​of the two pressure sensors, the lateral crawling mechanism is controlled to adjust along the width direction of the main cable robot.

[0031] According to some embodiments of the present invention, the lateral crawling mechanism is provided with gripper assemblies at both its front and rear ends;

[0032] The adaptive adjustment method further includes: controlling the lateral crawling mechanism to rotate and adjust around its center position along its length direction based on the two pressure detection values ​​of the front and rear gripper assemblies.

[0033] In a first aspect, embodiments of this application provide a main-cable robot for applying the above-described adaptive adjustment method.

[0034] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: When the main cable robot is placed downwards, the position of the lateral crawling mechanism is adjusted along the width direction of the main cable robot, and by detecting the change in the distance between the lateral crawling mechanism and the main cable handrail, that is, the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, it is determined that the lateral crawling mechanism is roughly adjusted to be directly above the main cable handrail. In this way, the staff can conveniently place the main cable robot on the two main cable handrails. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall flow of the adaptive adjustment method according to an embodiment of the present invention;

[0036] Figure 2 This is a partial flowchart of the adaptive adjustment method according to an embodiment of the present invention. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0038] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, up, down, etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0039] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0040] In the description of this invention, unless otherwise explicitly defined, terms such as "setting," "installing," and "connecting" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0041] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. 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.

[0042] The present invention will now be described in further detail with reference to the accompanying drawings.

[0043] Please see Figure 1 This invention provides an adaptive adjustment method for a main cable robot. The main cable robot has lateral crawling mechanisms on its left and right sides, used for crawling along the left and right main cable handrails respectively. The two lateral crawling mechanisms share the same power source to allow them to move relatively closer or further apart along the width direction of the main cable robot; alternatively, each lateral crawling mechanism may have its own independent power source to allow it to move relatively closer or further apart along the width direction of the main cable robot.

[0044] The adaptive adjustment method includes:

[0045] S100 controls the two lateral crawling mechanisms to move relative to each other along the width direction of the main cable robot as the main cable robot descends toward the main cable handrail.

[0046] In one application scenario, when the main cable robot descends to a preset height, the two lateral crawling mechanisms move relative to each other along the width direction of the main cable robot; in another application scenario, during the descent of the main cable robot, the two lateral crawling mechanisms move relative to each other along the width direction of the main cable robot.

[0047] Furthermore, when the central control system controls the two lateral crawling mechanisms to move relative to each other along the width direction of the main cable robot, the two lateral crawling mechanisms are controlled in association, and they move relatively closer or relatively farther apart; or, the two lateral crawling mechanisms are controlled independently and move along the width direction of the main cable robot, which is not limited in this application.

[0048] S200 obtains the distance between the two lateral crawling mechanisms and the corresponding main cable handrail to determine the spacing variation between each lateral crawling mechanism and the corresponding main cable handrail.

[0049] Specifically, the lateral crawling mechanism is equipped with a distance sensor, such as an ultrasonic sensor. As the lateral crawling mechanism moves along the width of the main cable robot, the distance sensor detects changes in the distance between the lateral crawling mechanism and the main cable handrail. Simultaneously, the distance sensor detects the gap between the lateral crawling mechanism and the main cable handrail and continuously transmits this data to the central control system. Based on the distance data transmitted by the distance sensor, the central control system determines the change in the gap between the lateral crawling mechanism and the corresponding main cable handrail.

[0050] S300 If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, it is determined whether the lateral crawling mechanism has moved into position relative to the main cable handrail.

[0051] Specifically, when the lateral crawling mechanism moves directly above the main cable handrail, the distance sensor detects that the distance between the lateral crawling mechanism and the main cable handrail gradually decreases, thus the lateral crawling mechanism gradually moves into position. Conversely, when the lateral crawling mechanism moves away from directly above the main cable handrail, the distance sensor detects that the distance between the lateral crawling mechanism and the main cable handrail gradually increases, thus the lateral crawling mechanism gradually moves away from the position requiring adjustment. As can be seen, the change in the distance between the lateral crawling mechanism and the corresponding main cable handrail from decreasing to increasing determines whether the lateral crawling mechanism has moved into position relative to the main cable handrail.

[0052] It should be noted that when the lateral crawling mechanism moves directly above the main cable handrail, its downward movement is relatively slow. Therefore, the distance between the lateral crawling mechanism and the main cable handrail continues to increase.

[0053] If it is determined that both lateral crawling mechanisms have moved into position, S400 places the two lateral crawling mechanisms of the main cable robot on the two main cable handrails respectively.

[0054] Specifically, if both lateral crawling mechanisms have moved approximately directly above the main cable handrails, then it is determined that both lateral crawling mechanisms have reached their positions. At this point, stop adjusting the two lateral crawling mechanisms along the width direction of the main cable robot, and the two lateral crawling mechanisms can be placed downwards on the two main cable handrails.

[0055] As can be seen from the above, this replaces manual adjustment of the main cable robot's position to place it on the main cable handrail. In steps S100-S400 of this application, when the main cable robot is placed downwards, the position of the lateral crawling mechanism is adjusted along the width direction of the main cable robot. By detecting the change in the distance between the lateral crawling mechanism and the main cable handrail, that is, by detecting the change in the distance between the lateral crawling mechanism and the corresponding main cable handrail from decreasing to increasing, it is determined that the lateral crawling mechanism has been roughly adjusted to be directly above the main cable handrail. In this way, the operator can easily place the main cable robot on the two main cable handrails.

[0056] In one possible embodiment, S100, controlling the two lateral crawling mechanisms to move relative to each other along the width direction of the main cable robot, includes:

[0057] Along the width direction of the main cable robot, control the two lateral crawling mechanisms to move back to back from the minimum distance.

[0058] Specifically, before the main cable robot adapts to the two main cable handrails, the central control system adjusts the two lateral crawling mechanisms to their minimum spacing. Because the spacing between the two main cable handrails is sufficiently large, the two lateral crawling mechanisms, when adjusted to their minimum spacing, are located directly above the area between the two main cable handrails. Therefore, when the central control system controls the two lateral crawling mechanisms to move away from their minimum spacing, the two lateral crawling mechanisms move towards the top of their respective main cable handrails, thus adjusting the two lateral crawling mechanisms to their appropriate positions.

[0059] In another possible embodiment, S100, controlling the two lateral crawling mechanisms to move relative to each other along the width direction of the main cable robot, includes:

[0060] Along the width direction of the main cable robot, control the two lateral crawling mechanisms to move towards each other from the maximum distance.

[0061] Specifically, before the main cable robot adapts to the two main cable handrails, the central control system adjusts the two lateral crawling mechanisms to their maximum spacing. Because the spacing between the two main cable handrails is sufficiently small, the two lateral crawling mechanisms are located outside the interval between the two main cable handrails when adjusted to their maximum spacing. Therefore, when the central control system controls the two lateral crawling mechanisms to move towards each other from their maximum spacing, the two lateral crawling mechanisms move directly above their respective main cable handrails, thereby adjusting the two lateral crawling mechanisms to their appropriate positions.

[0062] In some embodiments, after determining the change in the spacing between each of the lateral crawling mechanisms and the corresponding main cable handrail, the following steps are included: if the spacing between one of the lateral crawling mechanisms and the corresponding main cable handrail changes from decreasing to increasing, and the spacing between another lateral crawling mechanism and the corresponding main cable handrail remains decreasing, the operator is reminded to adjust the position of the main cable robot in its width direction.

[0063] Specifically, if the distance between one of the lateral crawling mechanisms and its corresponding main cable handrail changes from decreasing to increasing, while the distance between the other lateral crawling mechanism and its corresponding main cable handrail remains decreasing, then one lateral crawling mechanism has already passed directly above the main cable handrail, while the other has not yet reached it. This indicates a misalignment between the placement of the main cable robot and the center position between the two main cable handrails. Therefore, along the width direction of the main cable robot, the operator needs to correct its position to reposition it to the center position between the two main cable handrails for repositioning.

[0064] In some embodiments, refer to Figure 1 and Figure 2 If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, the process further includes steps S301-S303.

[0065] S301 controls the lateral crawling mechanism to move in the opposite direction to its previous direction of movement during the descent of the main cable robot.

[0066] S302 Obtains the distance between the lateral crawling mechanism and the corresponding main cable handrail to determine the change in the spacing between the lateral crawling mechanism and the corresponding main cable handrail.

[0067] S303 If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, the cyclic step of controlling the lateral crawling mechanism to move in the opposite direction of its previous movement direction is executed, and the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail is performed.

[0068] Specifically, when the central control system detects that the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, the lateral crawling mechanism may excessively detach from directly above the main cable handrail. To address this, in steps S301-S303, during the descent of the main cable robot, the two lateral crawling mechanisms cyclically adjust along the width of the main cable robot. That is, each time the central control system detects an increase in the distance between the lateral crawling mechanism and the main cable handrail, it controls the lateral crawling mechanism to adjust in the opposite direction, so that the lateral crawling mechanism moves closer to directly above the main cable handrail. This cycle continues, thereby roughly adjusting the lateral crawling mechanism to directly above the main cable handrail, thus ensuring that the main cable robot can be accurately placed downwards onto the main cable handrail.

[0069] Further, before the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail, the following steps are included: the distance between the lateral crawling mechanism and the corresponding main cable handrail is less than or equal to a preset distance, so as to perform the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail.

[0070] The preset distance can be set between 3-8mm or other distance ranges, depending on the actual needs.

[0071] Specifically, during the descent of the main cable robot, if the central control system detects that the distance between the lateral crawling mechanism and the main cable handrail is 3-8mm, the main cable robot is too low relative to the main cable handrail. Therefore, the central control system prompts the operator to stop lowering the main cable robot, and the lateral crawling mechanism also stops adjusting its width. Then, the operator checks whether the two lateral crawling mechanisms are directly above the main cable handrail. If so, the main cable robot continues to descent, accurately placing the two lateral crawling mechanisms onto the two main cable handrails. If not, the operator needs to correct the position of the main cable robot, and the crane will lift the main cable robot back to the set height, re-entering steps S100 to S400 to ensure that the main cable robot is accurately placed on the main cable handrail.

[0072] In some embodiments, refer to Figure 1 The main cable robot includes at least four distance sensors, A1, A2, B1, and B2. A1 and A2 are located at the front and rear ends of one of the lateral crawling mechanisms, and B1 and B2 are located at the front and rear ends of another lateral crawling mechanism. Therefore, the central control system uses the data measured by A1 and A2 to determine the distance change between one lateral crawling mechanism and its corresponding main cable handrail; and the central control system uses the data measured by B1 and B2 to determine the distance change between the other lateral crawling mechanism and its corresponding main cable handrail.

[0073] Specifically, S200 obtains the distance between the two lateral crawling mechanisms and the corresponding main cable handrail to determine the change in the spacing between each lateral crawling mechanism and the corresponding main cable handrail:

[0074] S201 acquires the distances detected by A1 and A2 to the main cable handrail to determine the changes in the distance between the corresponding lateral crawling mechanism and the corresponding main cable handrail.

[0075] S202 acquires the distances detected by B1 and B2 to the main cable handrail to determine the changes in the distance between the corresponding lateral crawling mechanism and the corresponding main cable handrail.

[0076] In practical applications, if the distance detected by one of A1 and A2 changes from decreasing to increasing, while the distance detected by the other remains decreasing, then one end of the lateral crawling mechanism has already passed directly above the main cable handrail, while the other end has not yet reached the main cable handrail. Therefore, the main cable robot is not aligned, and the operator needs to correct its posture. Similarly, if the distance detected by one of B1 and B2 changes from decreasing to increasing, while the distance detected by the other remains decreasing, then one end of the lateral crawling mechanism has already passed directly above the main cable handrail, while the other end has not yet reached the main cable handrail. Therefore, the main cable robot is not aligned, and the operator needs to correct its posture.

[0077] In some embodiments, refer to Figure 1 To enable the main cable robot to crawl along the main cable, it typically has multiple sets of gripper assemblies. In practical applications, these gripper assemblies cooperate to achieve forward movement of the main cable robot. Each set of gripper assemblies includes two mating grippers. Pressure sensors are positioned on opposite sides of the two grippers. Therefore, when the two grippers of the gripper assembly hold the main cable handrail, the pressure sensors on the two grippers detect the gripping force of the grippers on the main cable handrail.

[0078] Specifically, the adaptive adjustment method also includes the following steps:

[0079] During the process of the main cable robot crawling along the main cable handrail, S500 acquires the pressure detection values ​​of the two pressure sensors.

[0080] S600 compares the pressure detection values ​​of the two pressure sensors and controls the lateral crawling mechanism to adjust along the width direction of the main cable robot.

[0081] Specifically, during the main cable robot's crawling along the main cable handrail, when the two grippers of the gripper assembly are holding the main cable handrail, pressure sensors on the two grippers detect the gripping force of the grippers on the main cable handrail and transmit this information to the central control system. The central control system compares the pressure values ​​detected by the two pressure sensors. If the pressure value on the left is greater than the pressure value on the right, the corresponding lateral crawling mechanism is adjusted to the right along the width direction of the main cable robot to make the gripping force of the two grippers on the main cable handrail approximately the same, thereby ensuring that the main cable robot can crawl stably. If the pressure value on the right is greater than the pressure value on the left, the corresponding lateral crawling mechanism is adjusted to the left along the width direction of the main cable robot to make the gripping force of the two grippers on the main cable handrail approximately the same, thereby ensuring that the main cable robot can crawl stably.

[0082] In a further embodiment, two lateral crawling mechanisms are rotatably mounted on the frame of the main cable robot at their center along the longitudinal direction. This configuration allows the two lateral crawling mechanisms to be adjusted to accommodate the inclined extension of the main cable's handle rope. Each lateral crawling mechanism has a gripper assembly at both its front and rear ends. For ease of description, the front gripper assembly is designated as the first gripper assembly, and the rear gripper assembly as the second gripper assembly.

[0083] The adaptive adjustment method further includes: controlling the lateral crawling mechanism to rotate around its center position along its length direction based on the two pressure detection values ​​of the front and rear gripper assemblies.

[0084] Specifically, during the main cable robot's crawling along the handrail rope, if the pressure detection value on the left side of the first gripper assembly is larger than the pressure detection value on the right side of the second gripper assembly, the main control system can determine that the main cable handrail rope is extending approximately to the left. Based on the extension direction of the main cable handrail rope, the central control system controls the lateral crawling mechanism to rotate around its length direction center position, causing the lateral crawling mechanism to extend at an angle, thereby adapting to the extension path of the main cable handrail rope. Similarly, if the pressure detection value on the right side of the first gripper assembly is larger than the pressure detection value on the left side of the second gripper assembly, the main control system can determine that the main cable handrail rope is extending approximately to the right. Based on the extension direction of the main cable handrail rope, the central control system controls the lateral crawling mechanism to rotate around its length direction center position, causing the lateral crawling mechanism to extend at an angle, thereby adapting to the extension path of the main cable handrail rope.

[0085] This application also discloses a main cable robot, as shown in the reference. Figure 1 This is used to apply the adaptive adjustment method described above.

[0086] Understandably, the main cable robot uses the aforementioned adaptive adjustment method. During the placement of the main cable handrail, the robot adjusts the position of the lateral crawling mechanism along its width. By detecting changes in the distance between the lateral crawling mechanism and the main cable handrail—that is, by detecting whether the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing—it is determined that the lateral crawling mechanism is roughly adjusted to be directly above the main cable handrail. In this way, workers can easily place the main cable robot on the two main cable handrails.

[0087] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. An adaptive adjustment method for a main-cable robot, characterized in that, The main cable robot includes two lateral crawling mechanisms for crawling along the two main cable handrails respectively. The adaptive adjustment method includes: As the main cable robot descends toward the main cable handrail, the two lateral crawling mechanisms are controlled to move relative to each other along the width direction of the main cable robot. The distance between the two lateral crawling mechanisms and the corresponding main cable handrail is obtained to determine the spacing variation between each lateral crawling mechanism and the corresponding main cable handrail. If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, it is to determine whether the lateral crawling mechanism has moved into position relative to the main cable handrail. Once it is determined that both lateral crawling mechanisms have moved into position, the two lateral crawling mechanisms of the main cable robot are respectively placed on the two main cable handrails.

2. The adaptive adjustment method according to claim 1, characterized in that, Controlling the relative movement of the two lateral crawling mechanisms along the width direction of the main cable robot includes: Along the width direction of the main cable robot, control the two lateral crawling mechanisms to move back to back from the minimum distance or towards each other from the maximum distance.

3. The adaptive adjustment method according to claim 2, characterized in that, After determining the spacing changes between each of the lateral crawling mechanisms and the corresponding main cable handrail, the process includes: If the distance between one of the lateral crawling mechanisms and the corresponding main cable handrail changes from decreasing to increasing, while the distance between the other lateral crawling mechanism and the corresponding main cable handrail remains decreasing, the operator is reminded to adjust the position of the main cable robot in its width direction.

4. The adaptive adjustment method according to claim 2, characterized in that, If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, the method further includes: During the descent of the main cable robot, the lateral crawling mechanism is controlled to move in the opposite direction to its previous direction of movement; The distance between the lateral crawling mechanism and the corresponding main cable handrail is obtained to determine the change in the spacing between the lateral crawling mechanism and the corresponding main cable handrail. If the distance between the lateral crawling mechanism and the corresponding main cable handrail changes from decreasing to increasing, the cyclic step of controlling the lateral crawling mechanism to move in the opposite direction of its previous movement direction is executed, and the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail is performed.

5. The adaptive adjustment method according to claim 4, characterized in that, Before determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail in the execution step, the following steps are included: The distance between the lateral crawling mechanism and the corresponding main cable handrail is less than or equal to a preset distance, in order to perform the step of determining whether the lateral crawling mechanism has moved into position relative to the main cable handrail.

6. The adaptive adjustment method according to claim 5, characterized in that, The preset distance is set between 3mm and 8mm.

7. The adaptive adjustment method according to claim 1, characterized in that, The main cable robot includes at least four distance sensors, namely A1, A2, B1 and B2. A1 and A2 are located at the front and rear ends of one of the lateral crawling mechanisms, and B1 and B2 are located at the front and rear ends of another lateral crawling mechanism. The distance between the two lateral crawling mechanisms and the corresponding main cable handrail is obtained to determine the change in the spacing between each lateral crawling mechanism and the corresponding main cable handrail. Obtain the distances from A1 and A2 detected to the main cable handrail rope to determine the changes in the distance between the corresponding lateral crawling mechanism and the corresponding main cable handrail rope. Obtain the distances detected by B1 and B2 to the main cable handrail to determine the changes in the distance between the corresponding lateral crawling mechanism and the corresponding main cable handrail.

8. The adaptive adjustment method according to claim 1, characterized in that, The lateral crawling mechanism is equipped with a gripper assembly, which includes two cooperating grippers, and pressure sensors are provided on opposite sides of the two grippers. The adaptive adjustment method further includes: During the process of the main cable robot crawling along the main cable handrail, the pressure detection values ​​of the two pressure sensors are acquired; By comparing the pressure detection values ​​of the two pressure sensors, the lateral crawling mechanism is controlled to adjust along the width direction of the main cable robot.

9. The adaptive adjustment method according to claim 8, characterized in that, The lateral crawling mechanism is equipped with gripper assemblies at both its front and rear ends; The adaptive adjustment method further includes: controlling the lateral crawling mechanism to rotate and adjust around its center position along its length direction based on the two pressure detection values ​​of the front and rear gripper assemblies.

10. A main-cable robot, characterized in that, Used for applying the adaptive adjustment method according to any one of claims 1 to 9.

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