Bridge pull-in cable climbing device and detection robot

Abstract

The application provides a bridge pull cable climbing device and a detection robot, which are used to solve the problem of low efficiency of the detection robot in climbing the bridge pull cable in the prior art; the device comprises a telescopic driving module, an opening and closing driving module, two mounting seats and two opening and closing modules; a driving element is used to drive the first transmission shaft to rotate, and two transmission mechanisms connected with the first transmission shaft are used to change the current state of the corresponding connected opening and closing module, and only one of the opening and closing modules can be changed at the same time, so as to prevent the climbing device from falling from the air during the climbing process; in addition, at least one transmission mechanism can slide on the first transmission shaft by following the movement of the telescopic driving module, so as to ensure that the climbing device can smoothly climb the pull cable; in addition, the state of the two opening and closing modules can be switched by using one driving element, the waiting time of the telescopic driving assembly between two movement cycles is reduced, and the detection efficiency of the bridge pull cable is improved.

Description

Technical Field

[0001] The invention belongs to the field of bridge cable detection, and in particular relates to a bridge cable climbing device and a detection robot. Background Art

[0002] As a key load-bearing component of a bridge, the quality and safety of bridge cables are paramount. Therefore, regular inspection of bridge cables is crucial to ensuring structural safety and extending their service life. The primary purpose of bridge cable inspection is to assess their current condition and identify potential defects and damage, enabling timely repair or replacement measures to prevent bridge accidents caused by cable failure.

[0003] In the prior art, a sling detection robot is provided, which includes two guide assemblies, two open clamping assemblies and a telescopic power source. The two open clamping assemblies are clamped on the sling and can open and close along the radial direction of the sling; the two guide assemblies are respectively installed on the two opposite outer sides of the two open clamping assemblies and are always clamped on the outer edge of the sling, and the guide assemblies can elastically shrink along the radial direction of the sling; the telescopic power source is connected to the two opposite inner sides of the two open clamping assemblies, and the power output end of the telescopic power source is hinged to one of the open clamping assemblies, and the other end is fixedly connected to the other open clamping assembly. During use, one of the open clamping components is clamped on the pull rope, and the other is not clamped on the pull rope. The telescopic power source drives the unclamped open clamping component to move axially in the direction of the pull rope. After moving into position, the open clamping component opens and closes along the radial direction of the pull rope to achieve clamping on the pull rope. Then, the open clamping component originally clamped on the pull rope opens and closes along the radial direction of the pull rope, that is, it is in a state of not clamping the pull rope. Then, the telescopic component drives the open clamping component originally clamped on the pull rope to move axially in the direction of the pull rope, thereby achieving reciprocating climbing movement of the robot on the pull rope. Specifically, when the robot performs a climbing action, its telescopic component must pause after completing a complete motion cycle, waiting for one of the clamping components to clamp the pull rope, while ensuring that the other open clamping component is in a relaxed state, before continuing to enter the next motion cycle. This climbing mechanism results in a long time interval between two consecutive movement cycles of the telescopic assembly, thereby extending the total time spent by the cable inspection robot in the process of climbing the cables. Furthermore, due to the extended inspection time for each cable, and the large number of cables typically distributed on bridges, the entire inspection process takes a significant amount of time. In addition, during the inspection operation, the bridge needs to be temporarily closed to ensure safety. Therefore, if the currently described cable inspection robot is used to inspect bridge cables, the bridge inspection cycle will be significantly extended, thereby causing large-scale traffic congestion problems. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a bridge cable climbing device and a detection robot, which are used to solve the problem of low efficiency of the detection robot in climbing the bridge cable in the prior art.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a bridge cable climbing device, comprising: a telescopic drive module, an opening and closing drive module, two mounting seats and two opening and closing modules; the two mounting seats are arranged at intervals along the axial direction of the cable; an opening and closing module is respectively provided on the two mounting seats; the output end of the telescopic drive module is connected to one of the mounting seats, and the fixed end is provided on the other mounting seat, and the telescopic drive module is used to change the spacing distance between the two mounting seats along the axial direction of the cable; the opening and closing drive module comprises a driving member, a first transmission shaft and two transmission mechanisms, the driving member is provided on one of the mounting seats, the first transmission shaft is transmission-connected to the driving member, and ... A transmission shaft is connected to two transmission mechanisms; a transmission mechanism is respectively provided on the two mounting seats, and the two transmission mechanisms are respectively connected to the opening and closing modules correspondingly provided on the same mounting seat; the opening and closing modules have a state of clamping the pull rope and a state of not clamping the pull rope; the driving member drives the first transmission shaft to move, and then switches the state of the two opening and closing modules through the two transmission mechanisms, and when the current state of one of the opening and closing modules is switched, the current state of the other opening and closing module is maintained; when the telescopic driving module changes the spacing distance between the two mounting seats along the axial direction of the pull rope, at least one transmission mechanism can slide on the first transmission shaft along the axial direction of the pull rope.

[0006] Optionally, the first transmission shaft includes a first transmission shaft body and a plurality of first guide members that are spaced apart in the circumferential direction of the first transmission shaft body and extend in the axial direction of the first transmission shaft body; the transmission mechanism includes a first transmission member sleeved on the first transmission shaft and a plurality of second guide members that are spaced apart in the circumferential direction of the inner side wall of the first transmission member and pass through the axial direction of the first transmission member; the first guide member and the second guide member are arranged in a one-to-one correspondence; the driving member drives the first transmission member to rotate through the first guide member and the second guide member, and the telescopic driving module drives the first transmission member to slide on the first transmission shaft body along the axial direction of the sling through the first guide member and the second guide member.

[0007] Optionally, the transmission mechanism also includes a second transmission member, a second transmission shaft, a first mounting plate and a cam assembly; the cam assembly is connected to the opening and closing module, and the cam assembly, the second transmission shaft and the first mounting plate are arranged on the mounting seat; the second transmission shaft is also transmission-connected to the cam assembly and the second transmission member; the second transmission member is transmission-connected to the first transmission member; the first transmission member and the second transmission member are rotationally connected to the first mounting plate.

[0008] Optionally, the opening and closing module includes a first elastic member, two rotating arm assemblies and two clamping assemblies; the middle parts of the two rotating arm assemblies are cross-arranged on the mounting base and are rotatably connected to the mounting base; one end of the two rotating arm assemblies is respectively connected to a clamping assembly, and the other end is respectively connected to a cam assembly; one end of the first elastic member is connected to one of the rotating arm assemblies, and the other end is connected to the other rotating arm assembly, and the first elastic member is used to maintain the two clamping assemblies in a state of clamping the sling; the cam assembly is used to overcome the elastic force of the first elastic member, so that the two clamping assemblies are in a state of not clamping the sling.

[0009] Optionally, the cam assembly includes a cam, a cam link, a second elastic member, a second mounting plate, a first rotating shaft and two first connecting rods; the two first connecting rods are respectively rotatably connected to a rotating arm assembly, and the other end is rotatably connected to the first rotating shaft; the second mounting plate is mounted on the mounting seat, and the second mounting plate is provided with a first through hole for the cam link to pass through; one end of the cam link is rotatably connected to the first rotating shaft, and the other end passes through the first through hole and is slidably connected to the cam, and an abutment is also provided on the cam link. The second elastic member is sleeved on the cam link, one end of which is connected to the second mounting plate, and the other end is connected to the abutment; the cam is transmission-connected to the second transmission shaft, and a groove is provided on the circumferential side of the cam for accommodating the end of the cam link away from the first rotating shaft; when the end of the cam link away from the first rotating shaft is located in the groove, the opening and closing module is in a state of clamping the sling.

[0010] Optionally, the transmission mechanism further includes a gear reduction assembly, which is connected to the second transmission shaft and the cam respectively, and is used to reduce the rotational speed of the second transmission shaft and then transmit it to the cam.

[0011] Optionally, the opening directions of the grooves of the two cams located on different mounting seats are different, and after the grooves of the two cams are projected onto the same plane in the axial direction of the sling, the grooves of the two cams at least partially overlap, and the overlapping part can at least accommodate one end of a cam connecting rod away from the first rotating shaft.

[0012] Optionally, the rotating arm assembly includes a first rotating arm, a second rotating arm and a first limiting member; the first rotating arm is rotatably connected to the mounting seat, one end of which is rotatably connected to the first connecting rod, and the other end is provided with a limiting cavity for accommodating part of the structure of the second rotating arm, and the first rotating arm is also provided with a threaded hole connected to the limiting cavity; the second rotating arm is connected to the clamping assembly at one end away from the first rotating arm; the first limiting member is threadedly connected to the threaded hole, and one end of which passes through the threaded hole and abuts against the side of the second rotating arm, for limiting the second rotating arm in the limiting cavity.

[0013] Optionally, the clamping assembly comprises an arc-shaped mounting plate, a clamping block, a plurality of third guide columns, a plurality of fourth guide columns and a plurality of third elastic members, the third guide columns, the fourth guide columns and the third elastic members are one-to-one correspondingly arranged; the outer side surface of the arc-shaped mounting plate is connected with the rotating arm assembly; the third guide column is a hollow columnar structure, one end of the third guide column is connected with the clamping block; one end of the fourth guide column is connected with the inner side surface of the arc-shaped mounting plate, the other end of the fourth guide column extends into the third guide column, the third elastic member is sleeved on the fourth guide column, one end of the third elastic member is connected with the clamping block, and the other end of the third elastic member is connected with the third guide column.

[0014] Optionally, the telescopic driving module comprises a plurality of telescopic driving members, the fixed ends of the plurality of telescopic driving members are arranged at intervals on one of the mounting seats, and the output ends are connected with the other mounting seat.

[0015] Another aspect of the present application also provides a bridge tensioned cable detection robot, comprising the bridge tensioned cable climbing device as described above, and further comprising a detection module; the detection module is arranged on the mounting seat, and the detection module is used for detecting the tensioned cable.

[0016] As described above, the bridge tensioned cable climbing device and the detection robot of the present application have at least the following beneficial effects: the telescopic driving module, the opening and closing driving module, the two mounting seats and the two opening and closing modules are arranged on the climbing device, the opening and closing driving module comprises a driving member, a first transmission shaft and two transmission mechanisms, the first transmission shaft is driven to rotate by the driving member, and the current state of the corresponding connected opening and closing module is changed by using the two transmission mechanisms connected with the first transmission shaft, and at the same time, the current state of only one of the opening and closing modules can be changed, so as to prevent the climbing device from falling from the air during the climbing process, damage the climbing device or the road, and even affect the safety of the detection personnel; in addition, at least one transmission mechanism can slide on the first transmission shaft by following the movement of the telescopic driving module, so as to ensure that the climbing device can smoothly climb the tensioned cable. In addition, the state of the two opening and closing modules can be switched by using one driving member, the waiting time of the telescopic driving assembly between two movement cycles is reduced, and the detection efficiency of the bridge tensioned cable is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 An angle structural schematic view of a bridge tensioned cable detection robot of the present application is shown.

[0018] Figure 2 An angle schematic view of a bridge tensioned cable detection robot of the present application after omitting part of the structure is shown.

[0019] Figure 3 Another angle schematic view of a bridge tensioned cable detection robot of the present application after omitting part of the structure is shown.

[0020] Figure 4 It shows a schematic diagram from another angle of a bridge cable inspection robot of the present invention with part of its structure omitted.

[0021] Figure 5 Display as Figure 4 A magnified schematic diagram of point A in FIG.

[0022] Figure 6 Shown is a schematic structural diagram of the rotating arm assembly of the present invention.

[0023] Figure 7 It is a schematic diagram showing two cams of the present invention installed on corresponding mounting seats. DETAILED DESCRIPTION

[0024] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0025] Please refer to all the following drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0026] The following embodiments are for illustration only and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0027] See also Figure 1The present invention provides a bridge cable climbing device, comprising: a telescopic driving module 1, an opening and closing driving module 2, two mounting seats 3 and two opening and closing modules 4; the two mounting seats 3 are arranged at intervals along the axial direction of the cable; an opening and closing module 4 is respectively provided on the two mounting seats 3; the output end of the telescopic driving module 1 is connected to one of the mounting seats 3, and the fixed end is provided on the other mounting seat 3, and the telescopic driving module 1 is used to change the spacing distance between the two mounting seats 3 along the axial direction of the cable; the opening and closing driving module 2 includes a driving member 21, a first transmission shaft 22 and two transmission mechanisms, the driving member 21 is provided on one of the mounting seats 3, the first transmission shaft 22 is transmission-connected to the driving member 21, and the first transmission mechanism The shaft 22 is connected to the two transmission mechanisms; a transmission mechanism is provided on each of the two mounting seats 3, and the two transmission mechanisms are respectively connected to the opening and closing modules 4 correspondingly provided on the same mounting seat 3; the opening and closing modules 4 have a state of clamping the pull rope and a state of not clamping the pull rope; the driving member 21 drives the first transmission shaft 22 to move, and then switches the states of the two opening and closing modules 4 through the two transmission mechanisms, and when switching the current state of one of the opening and closing modules 4, the current state of the other opening and closing module 4 is maintained; when the telescopic driving module 1 changes the spacing distance between the two mounting seats 3 along the axial direction of the pull rope, at least one transmission mechanism can slide on the first transmission shaft 22 along the axial direction of the pull rope.

[0028] In this embodiment, the opening and closing modules 4 are arranged on the side surfaces of the two mounting seats 3 that are arranged opposite to each other along the axial direction of the sling. Figure 1 For the convenience of explanation, the definition Figure 1 In the embodiment, the mounting seat 3 located at the bottom is the lower mounting seat, and the opening and closing module 4 installed on the lower mounting seat is the lower opening and closing module; the mounting seat 3 located at the top is the upper mounting seat, and the opening and closing module 4 installed on the upper mounting seat is the upper opening and closing module; the lower opening and closing module is arranged on the lower side surface of the lower mounting seat, and the upper opening and closing module is arranged on the upper side surface of the upper mounting seat. Of course, in other implementations, the opening and closing module 4 can also be arranged on the side surfaces of the two mounting seats 3 that are relatively arranged along the axial direction of the sling, and this embodiment does not limit this. The driving member 21 can be a driving element such as a motor or a rotary cylinder. In this embodiment, the driving member 21 is a motor, and the driving member 21 is installed on the lower mounting seat. One end of the first transmission shaft 22 is coaxially arranged on the output end of the driving member 21, and the two transmission mechanisms are connected to the first transmission shaft 22 in transmission.

[0029] See also Figure 2-5In particular, the driving member 21 is a rotary motor for driving the first transmission shaft 22 to rotate. When the driving member 21 drives the first transmission shaft 22 to rotate, the current state of the corresponding connected opening and closing module 4 is changed through two transmission mechanisms, and the driving member 21 can only change the current state of one opening and closing module 4 at a time during the rotation process. For example, when the current state of the two opening and closing modules 4 is both in the state of clamping the pull cable, the driving member 21 can only change the current state of the lower opening and closing module to the state of not clamping the pull cable first, and then change the current state of the upper opening and closing module to the state of not clamping the pull cable. The first transmission shaft 22 can include a first transmission shaft body 221 and a plurality of first guides 222 arranged in a circumferential direction of the first transmission shaft body 221, and the first guides 222 extend in the axial direction of the first transmission shaft 22. The transmission mechanism includes a first transmission member 231 sleeved on the first transmission shaft 22 and a plurality of second guides 232 arranged in a circumferential direction of the inner side wall of the first transmission member 231 and penetrating the axial direction of the first transmission member 231; the first guides 222 and the second guides 232 are arranged one by one. The rotary motor 5123 drives the first transmission shaft 22 to rotate, and drives the first transmission member 231 to rotate through the first guides 222 and the second guides 232, thereby driving the opening and closing module 4 to perform opening and closing movement. In an implementation form, the first guide 222 can be a convex strip structure, and the second guide 232 can be a groove 2711 structure. Through the action of the convex strip structure and the groove 2711 structure, the power of the first transmission shaft 22 can be transmitted to the first transmission member 231, and the telescopic driving module 1 can drive the transmission mechanism to slide in the axial direction of the first transmission shaft 22. In other implementation forms, the first guide 222 and the second guide 232 can also have other structures, and the present embodiment does not limit this, as long as the first transmission member 231 can slide in the axial direction of the first transmission shaft 22 and the rotational power of the first transmission shaft 22 can be transmitted to the first transmission member 231. It can be understood that the second guide 232 can be arranged on the first transmission member 231 of the two transmission mechanisms at the same time, that is, both of the two transmission mechanisms can slide in the axial direction of the first transmission shaft 22.

[0030] In addition, when the telescopic driving module 1 changes the interval distance between the two mounting seats 3, at least one of the two opening and closing modules 4 is in the state of not clamping the pull cable, so that the telescopic driving module 1 can change the interval distance between the two mounting seats 3.

[0031] The climbing cable-pulling mechanism of the climbing device of this embodiment is as follows: In the initial state, the lower opening and closing module is in a state of clamping the cable, while the upper opening and closing module is in a state of not clamping the cable, and the distance between the two mounting seats 3 is at a minimum. The telescopic drive module 1 then moves, driving the upper mounting seat to move upward along the axis of the cable, thereby increasing the distance between the two mounting seats 3. When the distance between the two mounting seats 3 reaches its maximum, the telescopic drive module 1 stops, and the opening and closing drive module 2 then simultaneously drives the two opening and closing modules 4 to move, causing both to initially clamp the cable. Then, as the driver 21 continues to rotate the first transmission shaft 22, the lower opening and closing module is in a state of not clamping the cable, while the upper opening and closing module is in a state of clamping the cable, and the opening and closing drive module 2 stops. The telescopic drive module 1 then starts, driving the lower mounting seat to move upward along the axis of the cable, minimizing the distance between the two mounting seats 3. Then the telescopic driving module 1 stops working, and the telescopic driving module 1 continues working, and the climbing process of the tension rope can be realized by this reciprocating motion.

[0032] See also Figure 2-5 In one embodiment, the transmission mechanism further includes a second transmission member 24, a second transmission shaft 25, a first mounting plate 26 and a cam assembly 27; the cam assembly 27 is connected to the opening and closing module 4, and the cam assembly 27, the second transmission shaft 25 and the first mounting plate 26 are arranged on the mounting seat 3; the second transmission shaft 25 is also transmission-connected to the cam assembly 27 and the second transmission member 24; the second transmission member 24 is transmission-connected to the first transmission member 231; the first transmission member 231 and the second transmission member 24 are rotationally connected to the first mounting plate 26.

[0033] A first mounting plate 26 for driving the transmission mechanism of the upper opening and closing module is mounted on the lower side of the upper mounting seat; a first mounting plate 26 for driving the transmission mechanism of the lower opening and closing module is mounted on the upper side of the lower mounting seat; the second transmission member 24 and the first transmission member 231 are rotatably mounted on the first mounting plate 26; a mounting hole is provided on the upper mounting seat, one end of the second transmission shaft 25 is connected to the second transmission member 24, and the other end passes through the mounting hole and connects to the cam assembly 27. In addition, the second transmission shaft 25 can also be rotatably connected to the mounting hole via a bearing or other structure to ensure more stable operation of the transmission mechanism. In this embodiment, the first transmission member 231 and the second transmission member 24 are respectively pulleys, and a belt is also provided on the first transmission member 231 and the second transmission member 24. That is, the first transmission shaft 22 transmits power to the second transmission shaft 25 via a belt transmission structure. In other implementations, the first transmission member 231 and the second transmission member 24 can also be gears or other structures, which is not limited in this embodiment. This embodiment transmits power from the first transmission shaft 22 to the second transmission shaft 25 via a belt drive mechanism, reducing the overall weight of the climbing device, reducing noise during transmission, and achieving smoother transmission. Furthermore, a first mounting plate 26 mounted on the lower mounting base secures the first transmission shaft 22, preventing it from shaking during rotation and reducing transmission efficiency.

[0034] The opening and closing module 4 may include a first elastic member 41, two rotating arm assemblies 42 and two clamping assemblies 43; the middle parts of the two rotating arm assemblies 42 are cross-arranged on the mounting base 3 and are rotatably connected to the mounting base 3; one end of the two rotating arm assemblies 42 is respectively connected to a clamping assembly 43, and the other end is respectively connected to the cam assembly 27; one end of the first elastic member 41 is connected to one of the rotating arm assemblies 42, and the other end is connected to the other rotating arm assembly 42, and the first elastic member 41 is used to maintain the two clamping assemblies 43 in a state of clamping the sling; the cam assembly 27 is used to overcome the elastic force of the first elastic member 41, so that the two clamping assemblies 43 are in a state of not clamping the sling.

[0035] A rotating shaft may be provided on the mounting base 3, and the two rotating arm assemblies 42 are rotatably connected to the mounting base 3 via the rotating shaft, and the two rotating arm assemblies 42 are connected in a cross-shaped manner at the rotating shaft, that is, similar to the shape of scissors. The two ends of the first elastic member 41 can be connected to one end of the two rotating part assemblies away from the clamping assembly 43, so that the two rotating arm assemblies 42 are in a state of clamping the sling when no external force is applied. In this embodiment, the first elastic member 41 is a spring. In other implementations, it can also be other elastic structures, which are not limited in this embodiment. When the cam assembly 27 moves, the elastic force of the first elastic member 41 can be overcome, even if the spring is stretched, causing the two rotating arm assemblies 42 to rotate, thereby allowing the two rotating arm assemblies 42 to be in a state of not clamping the sling.

[0036] In one embodiment, the cam assembly 27 includes a cam 271, a cam link 272, a second elastic member 273, a second mounting plate 274, a first rotating shaft 275 and two first connecting rods 276; the two first connecting rods 276 are respectively rotatably connected to a rotating arm assembly 42, and the other end is rotatably connected to the first rotating shaft 275; the second mounting plate 274 is mounted on the mounting base 3, and the second mounting plate 274 is provided with a first through hole for the cam link 272 to pass through; one end of the cam link 272 is rotatably connected to the first rotating shaft 275, and the other end passes through the first through hole and The cam 271 is slidably connected, and the cam link 272 is also provided with an abutment 2721. The second elastic member 273 is sleeved on the cam link 272, with one end connected to the second mounting plate 274 and the other end connected to the abutment 2721. The cam 271 is in driving connection with the second transmission shaft 25. A groove 2711 is provided on the circumferential side of the cam 271 to accommodate the end of the cam link 272 away from the first rotating shaft 275. When the end of the cam link 272 away from the first rotating shaft 275 is located in the groove 2711, the opening and closing module 4 is in a state of clamping the sling. In this embodiment, the second mounting plate 274 is vertically mounted on the mounting base 3, and the abutment 2721 is a snap ring provided on the end of the cam link 272 near the cam 271. The groove 2711 extends along the circumferential outer surface of the cam 271 and is wider than the diameter of the cam link 272. The second elastic member 273 is a spring. In other implementations, the second elastic member 273 may be other elastic structures, which is not limited in this embodiment.

[0037] When the opening and closing module 4 is in the state of clamping the sling, the angle formed by the two first connecting rods 276 on the first rotating shaft 275 toward the clamping assembly 43 is less than 180°. When the opening and closing module 4 is not clamping the sling, the angle formed by the two first connecting rods 276 on the first rotating shaft 275 toward the clamping assembly 43 is less than or equal to 180°. In addition, as long as the end of the cam connecting rod 272 away from the first rotating shaft 275 is located in the groove 2711, the opening and closing module 4 is in the state of clamping the sling. Correspondingly, when the end of the cam connecting rod 272 away from the first rotating shaft 275 is not located in the groove 2711, the opening and closing module 4 is in the state of not clamping the sling.

[0038] like Figure 7 As shown, Figure 7 Figure a is a schematic diagram of the structure corresponding to the connection between the upper opening and closing module and the cam assembly 27. In the state shown in Figure a, the cam link 272 is located within the groove 2711 of the cam 271. At this time, the opening and closing module 4 is in a state of clamping the sling, and the second elastic member 273 is in an uncompressed state. When the cam 271 rotates counterclockwise, the cam link 272 slides out of the groove 2711 and rests on the raised section 2712 of the cam 271. As the cam link 272 slides out of the groove 2711 and rests on the raised section 2712, the cam 271 drives the cam link 272 to slide toward the end closest to the clamping assembly 43, thereby pressing the first rotating shaft 275. This in turn drives the two rotating arm assemblies 42 to rotate, causing the opening and closing module 4 to transition from a state of clamping the sling to a state of not clamping the sling. At this time, the second elastic member 273 is compressed. When the cam 271 rotates clockwise, the cam link 272 slides from the raised section 2712 to the groove section 2711. At this time, under the elastic force of the second elastic member 273, the cam link 272 drives the first rotating shaft 275 to move away from the clamping assembly 43, thereby changing the opening and closing module 4 from a state of not clamping the sling to a state of clamping the sling.

[0039] like Figure 7 As shown, Figure 7 Figure b in the figure is a schematic diagram of the structure corresponding to the connection between the lower opening and closing module and the cam assembly 27. In Figure b, the orientation of the grooves 2711 of the cam 271 differs from that of the cam 271 in Figure a. Specifically, one groove 2711 is located to the left of the central axis of the cam link 272, and the other is located to the right. Furthermore, when the grooves 2711 of the two cams 271 are projected onto the same plane in the axial direction of the sling, the grooves 2711 of the two cams 271 at least partially overlap, and the overlapping portion can at least accommodate the cam link 272. When both cam links 272 are in the overlapping portion, both opening and closing modules 4 are in a state of clamping the sling.

[0040] When the driver 21 drives the two cams 271 to rotate clockwise, the cam link 272 corresponding to the upper opening and closing module first slides within the groove 2711, thereby maintaining the upper opening and closing module in a state of clamping the pull rope. The cam link 272 corresponding to the lower opening and closing module then slides out of the groove 2711 onto the raised section 2712, thereby switching the lower opening and closing module to a state of not clamping the pull rope. At this point, the telescopic driving module 1 can drive the upper mounting seat to move, thereby changing the distance between the upper and lower mounting seats. After the driver 21 continues to drive the two cams 271 to rotate clockwise by a certain angle, the cam link 272 corresponding to the upper opening and closing module also slides out of the groove 2711. Even if the upper opening and closing module switches to a state of not clamping the pull rope, the upper opening and closing module remains in a state of not clamping the pull rope. At this time, since neither opening and closing module 4 clamps the pull rope, the climbing device can be removed from the pull rope. Then, the driver 21 continues to rotate the two cams 271 clockwise for a certain angle, and the cam link 272 corresponding to the lower opening and closing module slides from the raised section 2712 into the groove 2711, switching the lower opening and closing module to a state of clamping the sling. The cam link 272 corresponding to the upper opening and closing module continues to slide on the raised section 2712, so the upper opening and closing module remains unclamped. Finally, the driver 21 continues to rotate the two cams 271 clockwise for a certain angle, and the two cam links 272 are located at the overlapping portion of the two grooves 2711, returning to the initial position. At this time, both opening and closing modules 4 are clamping the sling.

[0041] It is understood that during the process of the climbing device climbing and pulling the sling, the driving member 21 drives the cam 271 to rotate counterclockwise by a first angle, thereby switching the two opening and closing modules 4 from being simultaneously clamped to the upper opening and closing module being in a clamped state and the lower opening and closing module being in an unclamped state; and by driving the cam 271 to rotate clockwise by a first angle, thereby switching the two opening and closing modules 4 from being simultaneously clamped to the lower opening and closing module being in a clamped state and the upper opening and closing module being in an unclamped state. When the detection is completed and the climbing device returns to a position on or near the ground, the driving member 21 rotates clockwise or counterclockwise by a second angle greater than the first angle, thereby switching the two opening and closing modules 4 from being simultaneously clamped to the sling, thereby facilitating the removal of the climbing device from the sling. The first angle corresponds to the angle of the groove 2711 extending in the circumferential direction of the cam 271, and the second angle is greater than the angle of the groove 2711 extending in the circumferential direction of the cam 271, and is less than 360°, which is obtained by first subtracting the angle of the two grooves 2711 extending in the circumferential direction of the cam 271 and then adding the sum of the angles of the overlapping parts of the two grooves 2711.

[0042] See also Figure 1In one embodiment, the transmission mechanism further includes a gear reduction assembly 28, which is connected to the second transmission shaft 25 and the cam 271, respectively, and is used to reduce the speed of the second transmission shaft 25 and transmit it to the cam 271 to control the rotation of the cam 271. The gear reduction assembly 28 includes a first gear, a second gear, and a third gear. The first gear is disposed on the end of the second transmission shaft 25 away from the second transmission member 24. The second gear is rotatably connected to the mounting base 3. The third gear is coaxially disposed with the cam 271. The second gear is in transmission connection with the first gear, and the second gear is in transmission connection with the third gear. The second and third gears are larger than the first gear. In other words, in this embodiment, a two-stage gear reduction mechanism is used to reduce the speed of the second transmission shaft 25. Compared with a one-stage gear reduction mechanism, the two-stage gear reduction mechanism has higher transmission efficiency, a larger reduction ratio, smoother transmission, and a stronger load-bearing capacity.

[0043] See also Figure 1 、 6 In one embodiment, the rotating arm assembly 42 includes a first rotating arm 421, a second rotating arm 422, and a first stopper 423. The first rotating arm 421 is rotatably connected to the mounting base 3. One end of the first rotating arm 421 is rotatably connected to the first connecting rod 276, and the other end is provided with a stopper cavity 4211 for accommodating a portion of the structure of the second rotating arm 422. The first rotating arm 421 is also provided with a threaded hole that communicates with the stopper cavity 4211. The end of the second rotating arm 422, which is away from the first rotating arm 421, is connected to the clamping assembly 43. The first stopper 423 is threadedly connected to the threaded hole, and one end of the first stopper 423 passes through the threaded hole and abuts against the side of the second rotating arm 422, thereby limiting the second rotating arm 422 within the stopper cavity 4211. In other words, the rotating arm assembly 42 of this embodiment can adapt the climbing device to different diameters of slings by adjusting the length of the second rotating arm 422 extending from the stopper cavity 4211 of the first rotating arm 421. In one implementation, a handle may be provided at one end of the first stopper 423 away from the second rotating arm 422 to facilitate rotation of the first stopper 423. In addition, a second rotating arm 422 sliding groove may be provided in the stopper cavity 4211, and a protrusion structure adapted to the sliding groove may be provided on the second rotating arm 422 to increase the contact area between the first rotating arm 421 and the second rotating arm 422, thereby ensuring that the second rotating arm 422 can be positioned within the stopper cavity 4211.

[0044] See also Figure 1In one embodiment, the clamping assembly 43 includes a curved mounting plate 431, a clamping block 432, a plurality of third guide posts 433, a plurality of fourth guide posts 434, and a plurality of third elastic members 435. The third guide posts 433, the fourth guide posts 434, and the third elastic members 435 are arranged in a one-to-one correspondence. The outer side of the curved mounting plate 431 is connected to the rotating arm assembly 42. The third guide post 433 is a hollow columnar structure, one end of which is connected to the clamping block 432. The fourth guide post 434 has one end connected to the inner side of the curved mounting plate 431 and the other end extending into the third guide post 433. The third elastic member 435 is mounted on the fourth guide post 434, one end of which is connected to the clamping block 432 and the other end of which is connected to the third guide post 433. In this embodiment, the third elastic member 435 may be a spring. Of course, in other embodiments, the third elastic member 435 may also have other elastic structures, which are not limited in this embodiment. In addition, in this embodiment, a clamping assembly 43 includes two clamping blocks 432, four third guide posts 433, four fourth guide posts 434, and four third elastic members 435. Each clamping block 432 is provided with a third guide post 433, a fourth guide post 434, and a third elastic member 435 at each end. In other words, the clamping blocks 432 are positioned and mounted on the arc-shaped mounting plate 431 via their ends, and two clamping blocks 432 are mounted on each arc-shaped mounting plate 431. In this embodiment, the arrangement of the clamping blocks 432, the third guide posts 433, the fourth guide posts 434, and the fourth elastic members enables the clamping assembly 43 to clamp the sling even when the outer surface of the sling has an uneven structure.

[0045] In one embodiment, the telescopic drive module 1 includes multiple telescopic drive members, each with its fixed end spaced apart on one of the mounting blocks 3 and its output end connected to another mounting block 3. The telescopic drive members can be pneumatic or electric cylinders. In this embodiment, four electric cylinders are used, each with a rectangular fixed end positioned on the lower mounting block and its output end connected to the upper mounting block. This embodiment utilizes telescopic drive members to change the distance between the two mounting blocks 3. Compared to transmission methods such as screw drive mechanisms, the telescopic drive members can carry a greater load, ensuring the ability to change the distance between the two mounting blocks 3 while also ensuring stable movement.

[0046] See also Figure 1-2The present invention also provides a bridge cable inspection robot, including a bridge cable climbing device as described above, and also including a detection module. The detection module 5 is arranged on the mounting seat 3 and is used to detect the cable. The detection module 5 may include an excitation mechanism 51 and a radar target 52; the excitation mechanism 51 is used to abut against the outer side surface of the cable and excite the cable; the radar target 52 is used to reflect the vibration mode of the cable after excitation, so that the inspection personnel can obtain the status of the cable. The excitation mechanism 51 may include an excitation component 511 and a telescopic component 512. The telescopic component 512 is arranged on one of the mounting seats 3, such as the lower mounting seat, and is used to drive the excitation component 511 to move in a direction close to the cable or away from the cable, so as to make the excitation component 511 abut against the side of the cable.

[0047] During the process of the climbing device climbing the sling, the excitation assembly 511 is located away from the sling to ensure that the climbing device can climb the sling smoothly. After the climbing device climbs to the designated position, such as the midpoint of the sling, the telescopic assembly 512 drives the excitation device to move in the direction close to the sling so that the excitation device can vibrate the sling. In one embodiment, the telescopic assembly 512 includes a third mounting plate 5121, a screw rod 5122, a motor 5123 and a guide rail 5124. The guide rail 5124 and the motor 5123 are arranged on the lower mounting seat. One end of the screw rod 5122 is connected to the motor 5123 shaft of the motor 5123, and the other end is connected to the third mounting plate 5121. The excitation assembly 511 is arranged on the third mounting plate 5121, and the third mounting plate 5121 is slidably connected to the guide rail 5124. The motor 5123 drives the third mounting plate 5121 to move in the direction close to or away from the sling through the screw rod 5122.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A bridge cable climbing device, characterized in that: include: Telescopic drive module, opening and closing drive module, two mounting bases and two opening and closing modules; The two mounting seats are spaced apart along the axial direction of the sling; each of the two mounting seats is provided with an opening and closing module; the output end of the telescopic drive module is connected to one of the mounting seats, and the fixed end is provided on the other mounting seat, and the telescopic drive module is used to change the spacing distance between the two mounting seats along the axial direction of the sling; The opening and closing drive module includes a drive member, a first transmission shaft, and two transmission mechanisms. The drive member is arranged on one of the mounting seats, the first transmission shaft is in transmission connection with the drive member, and the first transmission shaft is in transmission connection with the two transmission mechanisms. One transmission mechanism is respectively arranged on each of the two mounting seats, and the two transmission mechanisms are respectively connected to the opening and closing module correspondingly arranged on the same mounting seat. The opening and closing module has a state of clamping the sling and a state of not clamping the sling; the driving member drives the first transmission shaft to move, and then switches the states of the two opening and closing modules through the two transmission mechanisms, and when the current state of one of the opening and closing modules is switched, the current state of the other opening and closing module is maintained; When the telescopic driving module changes the spacing distance between the two mounting seats along the axial direction of the pull rope, at least one of the transmission mechanisms can slide on the first transmission shaft along the axial direction of the pull rope.

2. A bridge cable climbing device according to claim 1, characterized in that: The first transmission shaft includes a first transmission shaft body and a plurality of first guide members that are spaced apart in the circumferential direction of the first transmission shaft body and extend in the axial direction of the first transmission shaft body; the transmission mechanism includes a first transmission member sleeved on the first transmission shaft and a plurality of second guide members that are spaced apart in the circumferential direction of the inner side wall of the first transmission member and pass through the axial direction of the first transmission member; the first guide member and the second guide member are arranged in a one-to-one correspondence; the driving member drives the first transmission member to rotate through the first guide member and the second guide member, and the telescopic driving module drives the first transmission member to slide on the first transmission shaft body along the axial direction of the pull rope through the first guide member and the second guide member.

3. A bridge cable climbing device according to claim 2, characterized in that: The transmission mechanism further includes a second transmission member, a second transmission shaft, a first mounting plate and a cam assembly; The cam assembly is connected to the opening and closing module, and the cam assembly, the second transmission shaft and the first mounting plate are arranged on the mounting seat; the second transmission shaft is also in transmission connection with the cam assembly and the second transmission member; the second transmission member is in transmission connection with the first transmission member; The first transmission member and the second transmission member are rotatably connected to the first mounting plate.

4. A bridge cable climbing device according to claim 3, characterized in that: The opening and closing module includes a first elastic member, two rotating arm assemblies and two clamping assemblies; The middle parts of the two rotating arm assemblies are cross-arranged on the mounting base and are rotatably connected to the mounting base; one end of the two rotating arm assemblies is respectively connected to a clamping assembly, and the other end is respectively connected to the cam assembly; One end of the first elastic member is connected to one of the rotating arm assemblies, and the other end is connected to the other rotating arm assembly. The first elastic member is used to maintain the two clamping assemblies in a state of clamping the sling; The cam assembly is used to overcome the elastic force of the first elastic member, so that the two clamping assemblies are in a state of not clamping the sling.

5. The bridge cable climbing device according to claim 4, characterized in that: The cam assembly includes a cam, a cam connecting rod, a second elastic member, a second mounting plate, a first rotating shaft and two first connecting rods; The two first connecting rods are respectively rotatably connected to a rotating arm assembly, and the other ends are rotatably connected to the first rotating shaft; the second mounting plate is mounted on the mounting seat, and the second mounting plate is provided with a first through hole for the cam connecting rod to pass through; one end of the cam connecting rod is rotatably connected to the first rotating shaft, and the other end passes through the first through hole and is slidably connected to the cam, and the cam connecting rod is further provided with an abutment portion, and the second elastic member is sleeved on the cam connecting rod, one end of which is connected to the second mounting plate, and the other end is connected to the abutment portion; The cam is in transmission connection with the second transmission shaft, and a groove is provided on the circumferential side surface of the cam for accommodating the end of the cam connecting rod away from the first rotating shaft; when the end of the cam connecting rod away from the first rotating shaft is located in the groove, the opening and closing module is in a state of clamping the sling.

6. The bridge cable climbing device according to claim 5, characterized in that: The transmission mechanism further includes a gear reduction assembly, which is connected to the second transmission shaft and the cam respectively, and is used to reduce the speed of the second transmission shaft and then transmit it to the cam; And / or, the opening directions of the grooves of the two cams located on different mounting seats are different, and after the grooves of the two cams are projected onto the same plane in the axial direction of the sling, the grooves of the two cams at least partially overlap, and the overlapping part can at least accommodate one end of the cam connecting rod away from the first rotating shaft.

7. The bridge cable climbing device according to claim 5, characterized in that: The rotating arm assembly includes a first rotating arm, a second rotating arm and a first limiting member; The first rotating arm is rotatably connected to the mounting base, one end of the first rotating arm is rotatably connected to the first connecting rod, and the other end is provided with a limiting cavity for accommodating a portion of the structure of the second rotating arm, and the first rotating arm is also provided with a threaded hole communicating with the limiting cavity; One end of the second rotating arm away from the first rotating arm is connected to the clamping assembly; the first limiting member is threadedly connected to the threaded hole, and one end thereof passes through the threaded hole and abuts against the side of the second rotating arm, for limiting the second rotating arm in the limiting cavity.

8. The bridge cable climbing device according to claim 4, characterized in that: The clamping assembly includes an arc-shaped mounting plate, a clamping block, a plurality of third guide posts, a plurality of fourth guide posts, and a plurality of third elastic members, wherein the third guide posts, the fourth guide posts, and the third elastic members are arranged in a one-to-one correspondence; The outer side surface of the arc-shaped mounting plate is connected to the rotating arm assembly; the third guide column is a hollow columnar structure, and one end of the third guide column is connected to the clamping block; one end of the fourth guide column is connected to the inner side surface of the arc-shaped mounting plate, and the other end extends into the third guide column. The third elastic member is sleeved on the fourth guide column, one end of which is connected to the clamping block, and the other end is connected to the third guide column.

9. A bridge cable climbing device according to any one of claims 1 to 8, characterized in that: The telescopic driving module includes a plurality of telescopic driving members, wherein the fixed ends of the plurality of telescopic driving members are spaced apart and arranged on one of the mounting seats, and the output ends are connected to the other mounting seat.

10. A bridge cable inspection robot, characterized in that: It comprises a bridge cable climbing device as described in any one of claims 1 to 9, and also comprises a detection module; the detection module is arranged on the mounting seat, and the detection module is used to detect the cable.

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