Electro-hydraulic hybrid driven peristaltic bridge steel cable detection robot and working method

Abstract

The invention discloses an electro-hydraulic hybrid drive peristaltic bridge steel cable detection robot and a working method, the robot is used for crawling and advancing along a bridge steel cable, the robot comprises a main body frame, the main body frame comprises a stator part and a telescopic part, and the telescopic part is arranged on the stator part and can reciprocate in the axial direction of the stator part; the front clamping mechanism and the rear clamping mechanism are used for alternately clamping and fixing on the steel cable, the front clamping mechanism is connected with the front end of the telescopic part, and the rear clamping mechanism is connected with the rear end of the stator part; the electro-hydraulic hybrid driving assembly is arranged between the stator part and the telescopic part and is used for driving the telescopic part to axially move relative to the stator part, and the electro-hydraulic hybrid driving assembly comprises a driving motor, a variable-pitch extrusion unit and a hydraulic soft driver which is made of a flexible material and is internally sealed with a hydraulic medium; the robot has the advantages that the robot can automatically, stably and continuously climb on a single steel cable, adapts to complex surfaces and large-dip-angle working conditions, and achieves efficient detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge detection, in particular to an electro-hydraulic hybrid driving peristaltic bridge cable detection robot. BACKGROUND

[0002] As a key component of national transportation infrastructure, the structural safety of bridges is directly related to the safety of people's lives and property and the stability of social and economic operation. Among many types of bridges, suspension bridges and cable-stayed bridges are widely used due to their strong spanning ability and light structure, and cables are the core load-bearing components of such bridges. However, cables are prone to cracks, wire breakage, slippage, and even rupture due to wind vibration, corrosion, fatigue, overloading, and earthquakes and other factors during long-term service. If not detected and maintained in a timely manner, it may cause catastrophic consequences. Therefore, regular and efficient, accurate, and safe detection of bridge cables has become an indispensable part of the bridge operation and maintenance system.

[0003] Currently, the detection of domestic bridge cables still mainly relies on manual methods, i.e., detection personnel are suspended near the high-altitude cable by a basket, a cable climber, or a rope, and use visual inspection, knocking, or portable non-destructive testing equipment for inspection. This method is inefficient, highly dangerous, and difficult to quantify the results, and cannot meet the needs of modern bridge management. In recent years, some research institutions and enterprises have attempted to develop cable climbing robots. Most of these robots use motors in combination with transmission mechanisms for driving, and then use wheel sets or tracks to generate friction with the surface of the cable to achieve movement. However, this rigid driving and clamping method has inherent technical limitations: the output force and clamping force are limited by the power of the motor and the efficiency of the transmission mechanism. When working on vertical or large-angle cables, the effective adhesion force is often insufficient, resulting in a lack of driving force and a risk of slipping or failing to climb.

[0004] The above lack of driving capacity further raises the following technical problems. In order to compensate for the force output limitations of rigid driving methods, existing solutions often need to increase the size and weight of the transmission mechanism, which in turn leads to decreased flexibility and increased energy consumption of the robot. At the same time, rigid clamping mechanisms are difficult to adapt to slight changes in cable diameter and irregularities in surface morphology, and are prone to fluctuations in clamping force, causing vibration and attitude instability of the robot body. This unstable motion state not only seriously affects the measurement accuracy of the detection sensors, but also may cause mechanical damage to the protective layer on the surface of the cable. In addition, existing robots often need to rely on multiple cables or external auxiliary devices to maintain balance in order to ensure stable operation, making it difficult to achieve autonomous, stable, and continuous climbing on a single cable. The above technical defects seriously restrict the engineering application effect of existing detection robots.

[0005] Therefore, there is an urgent need in the art for an innovative solution that fundamentally breaks through the rigidity driving limitations to provide stronger driving force, superior environmental adaptability and more stable crawling performance. SUMMARY

[0006] The present application aims to provide an electro-hydraulic hybrid driving peristaltic bridge cable detection robot and working method, which can autonomously, stably and continuously crawl on a single cable, adapt to complex surfaces and large inclination working conditions, and achieve efficient detection.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solution: an electro-hydraulic hybrid driving peristaltic bridge cable detection robot for peristaltic movement along a bridge cable, comprising: a main frame, the main frame comprising a stator portion and a telescopic portion mounted on the stator portion and capable of reciprocating along the axial direction thereof; a front clamping mechanism and a rear clamping mechanism for alternately clamping and fixing to the cable, wherein the front clamping mechanism is connected to the front end of the telescopic portion, and the rear clamping mechanism is connected to the rear end of the stator portion; an electro-hydraulic hybrid driving assembly arranged between the stator portion and the telescopic portion for driving the telescopic portion to move axially relative to the stator portion, the electro-hydraulic hybrid driving assembly comprising a driving motor, a variable-distance extrusion unit, and a hydraulic soft driver made of flexible material and internally sealed with a hydraulic medium, the driving motor being mounted on the stator portion and in transmission connection with the variable-distance extrusion unit, the hydraulic soft driver being surrounded by the variable-distance extrusion unit, and its front end being connected to the telescopic portion through a telescopic rod; wherein the driving motor is used to drive the variable-distance extrusion unit to apply or release extrusion force to the hydraulic soft driver, so that the telescopic rod is correspondingly axially elongated or retracted, thereby pushing the telescopic portion to move relative to the stator portion.

[0008] Preferably, the outer surface of the stator portion is provided with at least two spiral guide grooves, and the telescopic portion is provided with a guide piece in sliding cooperation with the spiral guide grooves, so as to constrain the axial movement of the telescopic portion relative to the stator portion to be spiral movement.

[0009] Preferably, the stator portion is provided with a motor fixing plate, the driving motor is fixed on the motor fixing plate, and the stator portion is further provided with a rotor rotatably connected to the stator portion, the variable-distance extrusion unit is arranged on the rotor, a driving gear is fixed on the output shaft of the driving motor, the driving gear is in mesh with a driven gear, and the driven gear is in transmission connection with the rotor through a transmission column, so as to drive the rotor to rotate relative to the stator portion, and further drive the variable-distance extrusion unit to act.

[0010] Preferably, the hydraulic soft driver is fixed at the center of the rotor, the variable-pitch pressing unit comprises at least two symmetrically arranged pressing assemblies, each of the pressing assemblies comprises a fixed guide plate, a rotating guide plate, at least one pressing shaft and a pressing plate, the fixed guide plate is fixedly connected with the rotor, the rotating guide plate is hingedly connected with the stator part, the pressing shaft is arranged through the fixed guide plate and the rotating guide plate, and the pressing plate is fixed on the pressing shaft, so that when the rotor rotates relative to the stator part, the pressing plates of the pressing assemblies are linked to jointly produce radial displacement to exert pressing force on the hydraulic soft driver.

[0011] Preferably, the front clamping mechanism comprises a front fixed plate, a front clamping motor, a front clamping driving external gear, a front clamping driven internal gear, and at least two symmetrically arranged front clamping assemblies, each of the front clamping assemblies comprises a front clamping driven external gear, a front clamping rack and a front clamping block, wherein the front fixed plate is fixed at the front end of the telescopic part, the front clamping motor is fixed on the front fixed plate and drives the front clamping driving external gear to rotate, the front clamping driving external gear is engaged with the front clamping driven internal gear, the front clamping driven internal gear is engaged with the front clamping driven external gear of each of the front clamping assemblies, each of the front clamping driven external gears is engaged with the corresponding front clamping rack, the front clamping rack is slidably mounted on the front fixed plate, and the front clamping block is fixed on the front clamping rack, and a front clamping space for clamping the steel cable is formed between the front clamping blocks.

[0012] Preferably, the rear clamping mechanism comprises a rear fixed plate, a rear clamping motor, a rear clamping driving external gear, a rear clamping driven internal gear, and at least two symmetrically arranged rear clamping assemblies, each of the rear clamping assemblies comprises a rear clamping driven external gear, a rear clamping rack and a rear clamping block, wherein the rear fixed plate is fixed at the rear end of the stator part, the rear clamping motor is fixed on the rear fixed plate and drives the rear clamping driving external gear to rotate, the rear clamping driving external gear is engaged with the rear clamping driven internal gear, the rear clamping driven internal gear is engaged with the rear clamping driven external gear of each of the rear clamping assemblies, each of the rear clamping driven external gears is engaged with the corresponding rear clamping rack, the rear clamping rack is slidably mounted on the rear fixed plate, and the rear clamping block is fixed on the rear clamping rack, and a rear clamping space for clamping the steel cable is formed between the rear clamping blocks.

[0013] Preferably, the inner side surfaces of the front clamping blocks and the rear clamping blocks are respectively provided with knurling.

[0014] Preferably, a front guiding mechanism is further included, the front guiding mechanism comprises a front guiding fixed plate, a front guiding mounting plate, two symmetrically arranged front mounting plates and two front guiding wheels, the front guiding fixed plate is fixed to the front end of the telescopic part, the front guiding mounting plate is connected with the front guiding fixed plate through a front steering bearing, the two front mounting plates are symmetrically fixed to the front guiding mounting plate, and the two front guiding wheels are rotatably arranged on the corresponding front mounting plates respectively and used for rolling contact with the steel cable to guide.

[0015] Preferably, a rear guiding mechanism is further included, the rear guiding mechanism comprises two symmetrically arranged rear mounting racks and two rear guiding wheels, the two rear mounting racks are fixed to the motor fixed plate, and the two rear guiding wheels are rotatably arranged on the corresponding rear mounting racks respectively and used for rolling contact with the steel cable to guide.

[0016] A working method of an electro-hydraulic hybrid driving peristaltic bridge steel cable detection robot, which is used for advancing along a steel cable, comprises the following circulating steps: S1: driving the rear clamping mechanism to clamp the steel cable while keeping the front clamping mechanism loose; S2: starting the electro-hydraulic hybrid driving assembly to drive the telescopic part to extend forward relative to the stator part; S3: driving the front clamping mechanism to clamp the steel cable and then driving the rear clamping mechanism to loosen the steel cable; S4: resetting the electro-hydraulic hybrid driving assembly to pull the stator part to move forward relative to the telescopic part.

[0017] Compared with the prior art, the advantages of the present application are that when the rear clamping mechanism is fixed to the steel cable, the driving motor is started, the variable-pitch extrusion unit is driven through the transmission mechanism to exert radial extrusion force on the surrounding hydraulic soft driver, since the soft driver is made of flexible material and is internally sealed with hydraulic medium, the radial extrusion is converted into huge pressure of the internal hydraulic oil, so that the driver is forced to elongate in the axial direction and pushes the telescopic part of the robot together with the front clamping mechanism to move forward through the telescopic rod. Then, after the front clamping mechanism clamps the steel cable and the rear clamping mechanism loosens, the driving motor is reset or reversed, the variable-pitch extrusion unit releases the extrusion force, and the hydraulic soft driver restores to the original state by relying on the elasticity of the flexible material itself, thereby generating strong retraction force to pull the stator part together with the rear clamping mechanism to move forward and complete a complete stepping cycle.

[0018] The device uses the principle that hydraulic transmission can easily generate huge thrust force through electro-hydraulic hybrid driving mode, so that the robot can obtain driving force far exceeding the driving force of traditional motor direct drive or friction wheel driving mode on vertical or large inclination cable, ensuring the climbing ability and running stability when carrying the detection equipment, at the same time, the use of flexible driver brings smooth and impact-free motion characteristics, which can protect the coating on the surface of the cable and provide a stable working platform for the high-precision sensor carried, significantly improving the reliability of detection. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by the provided drawings without creative labor for those skilled in the art.

[0020] Figure 1 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 2 is a sectional view of the present application when cooperating with the cable; Figure 3 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 4 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 5 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 6 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 7 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 1 ; Figure 8 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 2 ; Figure 9 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 10 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 11 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 12 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 1 ; Figure 13 is a perspective view of the three-dimensional structure of the present application hidden from the main frame; Figure 2 ; Figure 14 is a schematic diagram of the three-dimensional structure of the rear clamping assembly in the present application; Figure 15 is a schematic diagram of the three-dimensional structure of the front guide mechanism in the present application; Figure 16 is a schematic diagram of the three-dimensional structure of the rear guide mechanism in the present application; Figure 17 is a state diagram of S1 stage in the present application; Figure 18 is a state diagram of S2 stage in the present application; Figure 19 is a state diagram of S3 stage in the present application; Figure 20 is a state diagram of S4 stage in the present application; In the figure, 1 is a main body frame; 2 is a stator part; 3 is an extension part; 4 is a front clamping mechanism; 5 is a rear clamping mechanism; 6 is an electro-hydraulic hybrid drive assembly; 7 is a drive motor; 8 is a variable-pitch extrusion unit; 9 is a hydraulic soft driver; 10 is an extension rod; 11 is a helical guide groove; 12 is a guide piece; 13 is a motor fixing plate; 14 is a rotor; 15 is a driving gear; 16 is a driven gear; 17 is a transmission column; 18 is an extrusion assembly; 19 is a fixed guide plate; 20 is a rotating guide plate; 21 is an extrusion shaft; 22 is an extrusion plate; 23 is a front fixed plate; 24 is a front clamping motor; 25 is a front clamping driving external gear; 26 is a front clamping driven internal gear; 27 is a front clamping assembly; 28 is a front clamping driven external gear; 29 is a front clamping rack; 30 is a front clamping block; 31 is a front clamping space; 32 is a rear fixed plate; 33 is a rear clamping motor; 34 is a rear clamping driving external gear; 35 is a rear clamping driven internal gear; 36 is a rear clamping assembly; 37 is a rear clamping driven external gear; 38 is a rear clamping rack; 39 is a rear clamping block; 40 is a rear clamping space; 41 is a front guide mechanism; 42 is a front guide fixed plate; 43 is a front guide mounting plate; 44 is a front mounting plate; 45 is a front guide wheel; 46 is a front steering bearing; 47 is a rear guide mechanism; 48 is a rear guide frame; 49 is a rear guide wheel. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0022] Embodiment one: as shown in the figure, an electro-hydraulic hybrid drive peristaltic bridge cable detection robot for peristaltic movement along the bridge cable, comprising: Figures 1-16 ​ A main frame 1, which comprises a stator part 2 and a telescopic part 3 mounted on the stator part 2 and capable of reciprocating along the axial direction thereof; A front clamping mechanism 4 and a rear clamping mechanism 5 for alternately clamping and fixing on the steel cable, wherein the front clamping mechanism 4 is connected with the front end of the telescopic part 3, and the rear clamping mechanism 5 is connected with the rear end of the stator part 2; An electro-hydraulic hybrid drive assembly 6, which is arranged between the stator part 2 and the telescopic part 3 and is used for driving the telescopic part 3 to move axially relative to the stator part 2, the electro-hydraulic hybrid drive assembly 6 comprises a driving motor 7, a variable-distance extrusion unit 8 and a hydraulic soft driver 9 made of flexible material and internally sealed with hydraulic medium, the driving motor 7 is mounted on the stator part 2 and is in transmission connection with the variable-distance extrusion unit 8, the hydraulic soft driver 9 is surrounded by the variable-distance extrusion unit 8, and the front end of the hydraulic soft driver 9 is connected with the telescopic part 3 through a telescopic rod 10; wherein the driving motor 7 is used for driving the variable-distance extrusion unit 8 to apply or release extrusion force to the hydraulic soft driver 9, so that the telescopic rod 10 is correspondingly elongated or retracted axially, thereby pushing the telescopic part 3 to move relative to the stator part 2.

[0023] Embodiment two: as shown in the figure, which is different from embodiment one in that the outer surface of the stator part 2 is provided with at least two spiral guide grooves 11, and the telescopic part 3 is provided with guide members 12 which are in sliding cooperation with the spiral guide grooves 11, so as to constrain the axial movement of the telescopic part 3 relative to the stator part 2 into spiral movement. Figures 1-16

[0024] In the above structure, the outer surface of the stator part 2 is uniformly provided with four spiral guide grooves 11 along the circumference, and the guide members 12 cooperating with the spiral guide grooves 11 are a set of components mounted on the front end of the telescopic part 3, which comprises four lugs arranged on the edge of the telescopic part 3, each lug is hinged with a telescopic guide bearing through a telescopic guide shaft, and the four telescopic guide bearings are respectively embedded in the four spiral guide grooves 11 on the outer surface of the stator part 2 and are in sliding cooperation with the same. Through the cooperation of the four sets of guide bearings and the four spiral guide grooves, the axial thrust generated by the electro-hydraulic hybrid drive assembly 6 is converted into the spiral movement of the telescopic part 3, thereby ensuring the posture stability and trajectory certainty of the robot during the advancing or retreating process.

[0025] In this embodiment, a motor fixing plate 13 is arranged in the stator part 2, the driving motor 7 is fixed on the motor fixing plate 13, a rotor 14 is further arranged in the stator part 2 and is in rotational connection with the stator part 2, the variable-distance extrusion unit 8 is arranged on the rotor 14, a driving gear 15 is fixed on the output shaft of the driving motor 7, the driving gear 15 is in meshing with a driven gear 16, the driven gear 16 is in transmission connection with the rotor 14 through a transmission column 17, so as to drive the rotor 14 to rotate relative to the stator part 2, and further drive the variable-distance extrusion unit 8 to act.

[0026] ​In the above structure, the driving motor 7 is firmly mounted on a motor fixing plate 13 inside the stator part 2, thus providing a stable mounting base for the power source, and the power transmission chain starts from the driving gear 15 on the output shaft of the driving motor 7, which is engaged with a larger driven gear 16, forming a set of speed-reducing and torque-increasing transmission mechanism, which not only transmits movement, but also reduces the output speed and significantly amplifies the torque, providing strong driving force for the subsequent extrusion action.

[0027] The amplified torque is rigidly transmitted to the rotor 14 by the driven gear 16 through a number of transmission shafts distributed along its circumference, and the rotor 14 itself is in rotational fitting relationship with the stator part 2 through bearings, ensuring the stability of its movement, when the driven gear 16 rotates, the entire rotor 14 as a whole, relative to the stator part 2, rotates stably, since the variable-pitch extrusion unit 8 is directly installed on the rotor 14, the rotation of the rotor 14 directly drives the mechanical structure inside the extrusion unit to produce a preset linkage, finally completing the extrusion action on the hydraulic soft driver 9.

[0028] In this embodiment, the hydraulic soft driver 9 is fixed at the center of the rotor 14, and the variable-pitch extrusion unit 8 includes at least two symmetrically arranged extrusion assemblies 18, each extrusion assembly 18 includes a fixed guide plate 19, a rotating guide plate 20, at least one extrusion shaft 21 and an extrusion plate 22, the fixed guide plate 19 is fixedly connected with the rotor 14, the rotating guide plate 20 is hinged with the stator part 2, the extrusion shaft 21 is arranged through the fixed guide plate 19 and the rotating guide plate 20, and the extrusion plate 22 is fixed on the extrusion shaft 21, so that when the rotor 14 rotates relative to the stator part 2, the extrusion plates 22 of each extrusion assembly 18 are jointly displaced radially to exert extrusion force on the hydraulic soft driver 9.

[0029] In the above structure, the rotational movement of the rotor 14 relative to the stator part 2 is converted into synchronous radial extrusion force on the hydraulic soft driver 9, and the specific implementation is as follows: when the rotor 14 rotates, the fixed guide plate 19 fixedly connected therewith and the hydraulic soft driver 9 will rotate synchronously, while the rotating guide plate 20 at the other end is hinged with the stator part 2, so its movement is limited, this relative movement forces the extrusion shaft 21 arranged through the two plates to displace, and the displacement of the extrusion shaft 21 is guided as radial movement, thus driving the extrusion plate 22 fixed thereon to shrink towards the center, to extrude the hydraulic soft driver 9 and make the telescopic rod 10 extend forward.

[0030] In this embodiment, by using four sets of extrusion assemblies 18, the extrusion force on the hydraulic soft drive 9 can be uniformly applied from multiple directions, avoiding uneven deformation or attitude deflection of the drive caused by one-way force, ensuring that the robot extension part 3 can be stably and straightly extended. In addition, the connecting rod structure itself has obvious advantages, which can amplify the torque input by the rotor 14 into powerful radial extrusion force, so as to realize effective compression of the hydraulic medium with smaller motor power and generate huge axial thrust. This design not only has reliable structure, but also completely mechanizes the conversion process from rotary motion to radial extrusion, ensuring the synchronicity and accuracy of the action.

[0031] Embodiment three: as shown in Figures 1-16 different from embodiment two, the front clamping mechanism 4 includes a front fixed plate 23, a front clamping motor 24, a front clamping driving outer gear 25, a front clamping driven inner gear 26, and at least two symmetrically arranged front clamping assemblies 27. Each front clamping assembly 27 includes a front clamping driven outer gear 28, a front clamping rack 29, and a front clamping block 30. The front fixed plate 23 is fixed at the front end of the extension part 3, the front clamping motor 24 is fixed on the front fixed plate 23 and drives the front clamping driving outer gear 25 to rotate, the front clamping driving outer gear 25 is engaged with the front clamping driven inner gear 26, and the front clamping driven inner gear 26 is engaged with the front clamping driven outer gear 28 of each front clamping assembly 27. Each front clamping driven outer gear 28 is engaged with its corresponding front clamping rack 29, the front clamping rack 29 is slidably installed on the front fixed plate 23, and the front clamping block 30 is fixed on the front clamping rack 29. A front clamping space 31 for clamping the steel cable is formed between the front clamping blocks 30.

[0032] In the above structure, the working principle of the front clamping mechanism 4 is based on a multi-stage gear transmission system, and the core is to convert the single rotary motion of the front clamping motor 24 into the synchronous and cooperative clamping action of the front clamping blocks 30. The power is output by the front clamping motor 24 fixed on the front fixed plate 23, which drives the front clamping driving outer gear 25 to rotate. The front clamping driving outer gear 25 is engaged with a large-diameter front clamping driven inner gear 26. This design not only transmits motion, but also usually plays a role of speed reduction and torque increase, providing a powerful torque for the clamping action.

[0033] The power distribution of the mechanism is as follows: the front clamping driven inner gear 26 is a central driving part, and is engaged with the front clamping driven outer gears 28 in all front clamping assemblies 27, which ensures that all the driven outer gears rotate at the same angular velocity and direction at any time, realizing synchronous movement. Each driven outer gear is engaged with the corresponding front clamping rack 29, and converts the rotary motion into linear reciprocating motion of the rack. Finally, the front clamping blocks 30 fixed on the front clamping racks 29 are synchronized with the racks to fold towards the center or expand outward, so as to adjust the size of the front clamping space 31.

[0034] The design has the advantages of reliable synchronization and self-centering capability. Through unified driving of the central inner gear, the highly consistent action of all clamping blocks is ensured, so that uniform clamping force can be applied from multiple directions when clamping the steel cable, and the robot is automatically positioned on the central axis of the steel cable, avoiding posture tilt or unstable clamping due to uneven single-sided force. At the same time, the gear and rack transmission system has the characteristics of smooth transmission, accurate positioning and reliable structure, ensuring the stability and repeatability of the clamping action.

[0035] In this embodiment, the rear clamping mechanism 5 includes a rear fixed plate 32, a rear clamping motor 33, a rear clamping driving outer gear 34, a rear clamping driven inner gear 35, and at least two symmetrically arranged rear clamping assemblies 36. Each rear clamping assembly 36 includes a rear clamping driven outer gear 37, a rear clamping rack 38, and a rear clamping block 39. The rear fixed plate 32 is fixed to the rear end of the stator part 2, the rear clamping motor 33 is fixed to the rear fixed plate 32 and drives the rear clamping driving outer gear 34 to rotate, the rear clamping driving outer gear 34 is engaged with the rear clamping driven inner gear 35, and the rear clamping driven inner gear 35 is engaged with the rear clamping driven outer gear 37 of each rear clamping assembly 36. Each rear clamping driven outer gear 37 is engaged with the corresponding rear clamping rack 38, the rear clamping rack 38 is slidably installed on the rear fixed plate 32, and the rear clamping block 39 is fixed to the rear clamping rack 38. The rear clamping blocks 39 form a rear clamping space 40 for clamping the steel cable.

[0036] The rear clamping mechanism 5 is a stable base of the robot in the stretching stage, and the core of the design is to convert the single rotary input of the rear clamping motor 33 into a synchronous and uniform linear clamping output of the rear clamping blocks 39 through a multi-stage gear transmission chain. The entire mechanism is installed on the rear fixed plate 32 fixed to the rear end of the stator part 2, providing rigid support for all moving parts. The power transmission path starts from the rear clamping motor 33 fixed to the rear fixed plate 32, which drives a rear clamping driving external gear 34. The driving gear 15 is engaged with a large-diameter rear clamping driven internal gear 35. This one-stage transmission design constitutes a set of speed reduction and torque amplification mechanism. Through the change of gear ratio, the output speed of the motor is reduced, and the torque is significantly amplified, thereby providing strong clamping force sufficient to overcome the robot's gravity and motion inertia. As the central driving part, the rear clamping driven internal gear 35 has an internal gear structure that allows it to be engaged with all symmetrically arranged rear clamping driven external gears 37 in the rear clamping assembly 36. This design ensures that all rear clamping driven external gears 37 rotate at the same angular speed and phase at any time. The rotary motion of the rear clamping driven external gears 37 is converted into the linear reciprocating motion of the rear clamping rack 38 through the engagement with the corresponding rear clamping rack 38. Since the rear clamping blocks 39 are rigidly fixed to the rear clamping rack 38, the coordinated and linear movement of all rear clamping blocks 39 towards the center of the rear clamping space 40 or outwardly to adjust the size of the rear clamping space 40 is finally achieved.

[0037] In this embodiment, the inner side surfaces of the front clamping blocks 30 and the rear clamping blocks 39 are provided with knurling.

[0038] The purpose of this structural design is to significantly increase the friction coefficient of the clamping interface to ensure that the robot can firmly and without slipping adhere to the surface of the steel cable. Compared with a smooth contact surface, this rough surface with knurling can provide a more reliable and stronger shear-resistant friction force. In this embodiment, a front guide mechanism 41 is also included, which comprises a front guide fixed plate 42, a front guide mounting plate 43, two symmetrically arranged front mounting plates 44, and two front guide wheels 45. The front guide fixed plate 42 is fixed to the front end of the telescopic part 3, the front guide mounting plate 43 is connected to the front guide fixed plate 42 through a front guide bearing 46, the two front mounting plates 44 are symmetrically fixed to the front guide mounting plate 43, and the two front guide wheels 45 are respectively rotatably mounted on the corresponding front mounting plates 44 for rolling contact with the steel cable to guide it.

[0039] In the above structure, although the two front guide wheels 45 are symmetrically fixed to the same front guide mounting plate 43 through their respective front mounting plates 44, the front guide mounting plate 43 itself is not rigidly connected to the robot body. Instead, it is connected to the front guide fixing plate 42 fixed at the front end of the telescopic part 3 through a front steering bearing 46. This hinged design gives the entire guide wheel a certain degree of free deflection capability.

[0040] The advantage of the above design is that it realizes a passive self-alignment function. During the robot's movement, if there is a slight deviation between the axis of the telescopic part 3 and the axis of the steel cable, the guide mechanism can automatically deflect at a small angle around the steering bearing, so that the two front guide wheels 45 can always maintain correct and symmetrical rolling contact with the steel cable. This not only greatly reduces the frictional resistance of movement through rolling contact, but also actively corrects the movement trajectory of the front end, preventing jamming or lateral torque caused by misalignment, thereby ensuring the smoothness and directional stability of the extension movement.

[0041] In this embodiment, a rear guide mechanism 47 is also included. The rear guide mechanism 47 includes two symmetrically arranged rear mounting brackets 48 and two rear guide wheels 49. The two rear mounting brackets 48 are fixed on the motor mounting plate 13, and the two rear guide wheels 49 are rotatably mounted on the corresponding rear mounting brackets 48 for rolling contact with the steel cable for guidance.

[0042] In the above structure, two rear guide wheels 49 form a stable rolling contact with the steel cable. This symmetrical layout ensures that the steel cable is subjected to balanced force, effectively preventing skew and vibration during operation, and ensuring the centering and smoothness of the transmission. At the same time, the rolling friction design greatly reduces running resistance and component wear, which not only improves transmission efficiency and reduces energy consumption, but also significantly extends the service life of the steel cable and guide wheels themselves.

[0043] The robot's main frame 1 has pre-installed mounting interfaces, allowing for the convenient installation of various lightweight, high-precision non-destructive testing modules, such as high-definition industrial cameras, magnetic flux leakage sensors, ultrasonic probes, or diameter measuring devices, according to actual testing needs. Because the robot achieves stable operation through the electro-hydraulic hybrid drive assembly 6 and the helical guide mechanism, it provides a near-vibration-free ideal working platform for these high-precision testing modules, thereby enabling the acquisition of high-quality, highly repeatable testing data.

[0044] Example 4: Figures 17-20 As shown, a working method for a peristaltic bridge cable inspection robot based on an electro-hydraulic hybrid drive according to Embodiment 3, used for traveling along the cable, includes the following cyclical steps: S1: Drive the rear clamping mechanism 5 to clamp the steel cable, while keeping the front clamping mechanism 4 loose; S2: start the electro-hydraulic hybrid drive assembly 6 to drive the telescopic section 3 to extend forward relative to the stator section 2; S3: drive the front clamping mechanism 4 to clamp the cable, and then drive the rear clamping mechanism 5 to release the cable; S4: reset the electro-hydraulic hybrid drive assembly 6 to pull the stator section 2 to move forward relative to the telescopic section 3.

[0045] The working process of the device starts from the anchoring stage (S1), in which the rear half (stator section 2) of the robot is firmly fixed on the cable by the rear clamping mechanism 5, providing a stable reaction force base point for the subsequent advancing action.

[0046] Then enters the extension stage (S2), after the electro-hydraulic hybrid drive assembly 6 is started, a strong axial thrust is generated by squeezing the internal hydraulic soft drive 9, driving the unclamped front half (telescopic section 3) to extend forward along the cable, thereby lengthening the overall configuration of the robot in space.

[0047] After the extension is in place, the switching of the clamping point is carried out (S3), the front clamping mechanism 4 acts to fix the front end of the robot at the new position, and then the rear clamping mechanism 5 is released, removing the constraint on the rear of the robot.

[0048] Finally, in the contraction stage (S4), the electro-hydraulic hybrid drive assembly 6 is reset, and the hydraulic soft drive 9 relies on its elastic retraction. Since the front end of the robot is fixed at this time, this retraction force effectively pulls the rear half (stator section 2) forward until it catches up with the front half, restoring the robot to the initial compact configuration.

[0049] By repeatedly executing these four steps, the robot can achieve stable and continuous step-by-step advancement along the cable.

[0050] The above is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A hybrid electro-hydraulic driven peristaltic bridge cable inspection robot for peristaltic travel along a bridge cable, characterized in that, include: The main frame includes a stator and a telescopic part mounted on the stator and capable of reciprocating along its axial direction; A front clamping mechanism and a rear clamping mechanism are used to alternately clamp and fix the cable to the steel cable, wherein the front clamping mechanism is connected to the front end of the telescopic part, and the rear clamping mechanism is connected to the rear end of the stator part; An electro-hydraulic hybrid drive assembly is disposed between the stator and the telescopic part, and is used to drive the telescopic part to move axially relative to the stator. The electro-hydraulic hybrid drive assembly includes a drive motor, a variable pitch extrusion unit, and a hydraulic soft actuator made of flexible material and internally sealed with hydraulic medium. The drive motor is mounted on the stator and is drivenly connected to the variable pitch extrusion unit. The hydraulic soft actuator is surrounded by the variable pitch extrusion unit, and its front end is connected to the telescopic part through a telescopic rod. The drive motor is used to drive the variable pitch extrusion unit to apply or release extrusion force to the hydraulic soft actuator, so that the telescopic rod extends or retracts axially accordingly, thereby pushing the telescopic part to move relative to the stator.

2. The electro-hydraulic hybrid driving peristaltic bridge cable inspection robot according to claim 1, characterized in that, The outer surface of the stator is provided with at least two spiral guide grooves, and the telescopic part is provided with a guide member that slides with the spiral guide grooves to constrain the axial movement of the telescopic part relative to the stator part into a spiral movement.

3. The electro-hydraulic hybrid driven peristaltic bridge cable inspection robot according to claim 1, characterized in that, The stator section is provided with a motor fixing plate, and the drive motor is fixed on the motor fixing plate. The stator section is also provided with a rotor that is rotatably connected to the stator section. The variable pitch extrusion unit is located on the rotor. A drive gear is fixed on the output shaft of the drive motor. The drive gear meshes with a driven gear. The driven gear is connected to the rotor through a transmission column to drive the rotor to rotate relative to the stator section, thereby driving the variable pitch extrusion unit to operate.

4. The electro-hydraulic hybrid driven peristaltic bridge cable inspection robot according to claim 3, characterized in that, The hydraulic soft actuator is fixed at the center of the rotor. The variable-pitch extrusion unit includes at least two symmetrically arranged extrusion assemblies. Each extrusion assembly includes a fixed guide plate, a rotating guide plate, at least one extrusion shaft, and an extrusion plate. The fixed guide plate is fixedly connected to the rotor, the rotating guide plate is hinged to the stator, the extrusion shaft passes through the fixed guide plate and the rotating guide plate, and the extrusion plate is fixed on the extrusion shaft. This allows the extrusion plates of each extrusion assembly to be linked and generate radial displacement together when the rotor rotates relative to the stator, thereby applying extrusion force to the hydraulic soft actuator.

5. The electro-hydraulic hybrid driven peristaltic bridge cable inspection robot according to claim 1, characterized in that, The front clamping mechanism includes a front fixed plate, a front clamping motor, a front clamping driving external gear, a front clamping driven internal gear, and at least two symmetrically arranged front clamping assemblies. Each front clamping assembly includes a front clamping driven external gear, a front clamping rack, and a front clamping block. The front fixed plate is fixed to the front end of the telescopic part. The front clamping motor is fixed to the front fixed plate and drives the front clamping driving external gear to rotate. The front clamping driving external gear meshes with the front clamping driven internal gear. The front clamping driven internal gear meshes with the front clamping driven external gear of each front clamping assembly. Each front clamping driven external gear meshes with its corresponding front clamping rack. The front clamping rack is slidably mounted on the front fixed plate. The front clamping block is fixed to the front clamping rack. A front clamping space for clamping the steel cable is formed between the front clamping blocks.

6. The electro-hydraulic hybrid driven peristaltic bridge cable inspection robot according to claim 5, characterized in that, The rear clamping mechanism includes a rear fixed plate, a rear clamping motor, a rear clamping driving external gear, a rear clamping driven internal gear, and at least two symmetrically arranged rear clamping assemblies. Each rear clamping assembly includes a rear clamping driven external gear, a rear clamping rack, and a rear clamping block. The rear fixed plate is fixed to the rear end of the stator. The rear clamping motor is fixed to the rear fixed plate and drives the rear clamping driving external gear to rotate. The rear clamping driving external gear meshes with the rear clamping driven internal gear. The rear clamping driven internal gear meshes with the rear clamping driven external gear of each rear clamping assembly. Each rear clamping driven external gear meshes with its corresponding rear clamping rack. The rear clamping rack is slidably mounted on the rear fixed plate. The rear clamping block is fixed to the rear clamping rack. A rear clamping space for clamping the steel cable is formed between the rear clamping blocks.

7. The electro-hydraulic hybrid driven peristaltic bridge cable inspection robot according to claim 5, characterized in that, The inner surfaces of the front clamping block and the rear clamping block are respectively knurled.

8. The electro-hydraulic hybrid driven peristaltic bridge cable inspection robot according to claim 1, characterized in that, It also includes a front guide mechanism, which includes a front guide fixing plate, a front guide mounting plate, two symmetrically arranged front mounting plates, and two front guide wheels. The front guide fixing plate is fixed to the front end of the telescopic part. The front guide mounting plate is connected to the front guide fixing plate through a front steering bearing. The two front mounting plates are symmetrically fixed to the front guide mounting plates. The two front guide wheels are rotatably mounted on the corresponding front mounting plates for rolling contact with the steel cable for guidance.

9. The electro-hydraulic hybrid driven peristaltic bridge cable inspection robot according to claim 3, characterized in that, It also includes a rear guide mechanism, which includes two symmetrically arranged rear mounting brackets and two rear guide wheels. The two rear mounting brackets are fixed to the motor mounting plate, and the two rear guide wheels are rotatably mounted on the corresponding rear mounting brackets for rolling contact with the steel cable for guidance.

10. A method for operating a peristaltic bridge cable inspection robot driven by an electro-hydraulic hybrid system as described in any one of claims 1 to 9, for traveling along the cable, characterized in that, Includes the following iterative steps: S1: Drive the rear clamping mechanism to clamp the steel cable while keeping the front clamping mechanism loose; S2: Start the electro-hydraulic hybrid drive assembly, driving the telescopic part to extend forward relative to the stator part; S3: Drive the front clamping mechanism to clamp the steel cable, and then drive the rear clamping mechanism to release the steel cable; S4: Reset the electro-hydraulic hybrid drive assembly to pull the stator section forward relative to the telescopic section.

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